Stock-Based Compensation - Stock Options Outstanding (Details) - Stock options - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Aggregate Intrinsic Value (in thousands)
Exercisable options (in shares)	6,679,948	5,576,430	4,668,179
Weighted-average exercise price per share of exercisable options (in dollars per share)	$ 26.99	$ 24.15	$ 21.75
Weighted average grant date fair value per share of options granted during the year (in dollars per share)	$ 15.45	$ 21.65	$ 16.96
Total number of shares of common stock available for issuance (in shares)	3,622,319	3,597,371	3,346,092
Weighted-average remaining contractual life	6 years 3 months 18 days	6 years 7 months 24 days	7 years	7 years 3 months 25 days