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Share-Based Payments - SAR Activity (Details) - Stock option and Stock Appreciation Rights - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Number of Options and SAR      
Outstanding at the beginning of the period (in shares) 5,774,076 5,451,862  
Granted (in shares) 1,103,635 1,055,525  
Exercised (in shares) (817,919) (266,987)  
Forfeited (in shares) (262,223) (466,324)  
Outstanding at the end of the period (in shares) 5,797,569 5,774,076 5,451,862
Vested and expected to vest (in shares) 5,797,569    
Exercisable (in shares) 3,541,395    
Weighted Average Exercise Price (per share)      
Outstanding at the beginning of the period (in dollars per share) $ 24.15 $ 23.26  
Granted (in dollars per share) 32.12 28.93  
Exercised (in dollars per share) 12.77 18.47  
Forfeited (in dollars per share) 30.42 27.74  
Outstanding at the end of the period (in dollars per share) 26.99 $ 24.15 $ 23.26
Vested and expected to vest (in dollars per share) 26.99    
Exercisable (in dollars per share) $ 25.08    
Weighted Average Remaining Contractual Term (in years)      
Outstanding at the end of the period 6 years 1 month 9 days 5 years 11 months 12 days 6 years 3 months 10 days
Vested and expected to vest 6 years 1 month 9 days    
Exercisable 4 years 8 months 4 days    
Aggregate Intrinsic Value (in thousands)      
Outstanding $ 53,650 $ 41,530 $ 29,877
Vested and expected to vest 53,650    
Exercisable $ 40,577