Stockholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands				12 Months Ended
	May 25, 2023	Dec. 14, 2022	Dec. 06, 2021	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Equity [Abstract]
Number of shares authorized to be repurchased (in shares)	2,000,000	3,000,000	5,000,000
Stock repurchase program, percent of common stock	1.90%	2.70%	4.60%
Stock repurchase program, remaining number of shares authorized to be repurchased (in shares)				1,106,841
Treasury stock, shares purchased (in shares)				4,242,693	4,464,405	6,055,119
Cost method of shares repurchase				$ 80,497	$ 93,996	$ 107,774
Cost method of shares repurchased (in dollars per share)				$ 18.97	$ 21.05	$ 17.80