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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, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Options and SAR      
Outstanding at the beginning of the period (in shares) 5,797,569 5,774,076  
Granted (in shares) 1,204,643 1,103,635  
Exercised (in shares) (258,154) (817,919)  
Forfeited (in shares) (160,236) (262,223)  
Outstanding at the end of the period (in shares) 6,583,822 5,797,569 5,774,076
Vested and expected to vest (in shares) 6,583,822    
Exercisable (in shares) 4,110,537    
Weighted Average Exercise Price (per share)      
Outstanding at the beginning of the period (in dollars per share) $ 26.99 $ 24.15  
Granted (in dollars per share) 37.78 32.12  
Exercised (in dollars per share) 16.70 12.77  
Forfeited (in dollars per share) 33.48 30.42  
Outstanding at the end of the period (in dollars per share) 29.20 $ 26.99 $ 24.15
Vested and expected to vest (in dollars per share) 29.20    
Exercisable (in dollars per share) $ 26.58    
Weighted Average Remaining Contractual Term (in years)      
Outstanding at the end of the period 5 years 10 months 24 days 6 years 1 month 9 days 5 years 11 months 12 days
Vested and expected to vest 5 years 10 months 24 days    
Exercisable 4 years 5 months 4 days    
Aggregate Intrinsic Value (in thousands)      
Outstanding $ 23,668 $ 53,650 $ 41,530
Vested and expected to vest 23,668    
Exercisable $ 22,305