Stockholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands					12 Months Ended
	Dec. 14, 2022	Dec. 06, 2021	Feb. 01, 2021	Sep. 10, 2020	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Equity, Class of Treasury Stock [Line Items]
Number of shares authorized to be repurchased (in shares)	3,000,000	5,000,000	5,000,000	5,000,000
Stock repurchase program, percent of common stock	2.70%	4.60%	4.50%	4.30%
Stock repurchase program, remaining number of shares authorized to be repurchased					349,534
Treasury stock, shares purchased (in shares)					4,464,405	6,055,119	7,587,142
Cost method of shares repurchase					$ 93,996	$ 107,774	$ 108,166
Cost method of shares repurchased (in dollars per share)					$ 21.05	$ 17.80	$ 14.26
Fifth Stock Repurchase Program
Equity, Class of Treasury Stock [Line Items]
Treasury stock, shares purchased (in shares)					0