Stock-based Compensation - Stock Options (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Weighted-average exercise price per share:
Compensation expense recorded during the year	$ 42,552	$ 37,794	$ 45,105
Stock Options
Stock-Based Compensation
Percentage of the award vesting at each of the three anniversaries	33.00%
Contractual term of the stock options	10 years		10 years
Fair Value Assumptions
Expected volatility (as a percent)	37.00%	38.00%	34.00%
Expected dividends (as a percent)	1.40%	1.40%	1.40%
Risk-free rate, Minimum (as a percent)	1.10%	0.10%	0.10%
Risk-free rate, Maximum (as a percent)	2.10%	1.70%	1.50%
Summary of equity awards, options
Balance at beginning of year (in units)	3,906,000	4,040,000	3,699,000
Granted (in units)	574,000	249,000	876,000
Exercised (in units)	(155,000)	(377,000)	(530,000)
Forfeited or canceled (in units)	(8,000)	(6,000)	(5,000)
Balance at end of year (in units)	4,317,000	3,906,000	4,040,000
Weighted-average exercise price per share:
Outstanding at beginning of year (in dollars per share)	$ 28.43	$ 28.01	$ 18.40
Granted (in dollars per share)	57.10	58.85	52.00
Exercised (in dollars per share)	21.09	19.96	17.72
Forfeited	53.10	39.52	20.61
Outstanding at end of year (in dollars per share)	$ 32.46	$ 28.43	$ 28.01
Compensation expense recorded during the year	$ 9,619	$ 4,444	$ 14,980
Number of options exercisable at end of year	3,488,000
Weighted average exercise price per exercisable option	$ 27.09
Weighted-average remaining contractual term:
Outstanding at end of year	5 years 2 months 12 days
Exercisable at end of year	4 years 4 months 24 days
Aggregate intrinsic value
Outstanding at end of year	$ 107,080
Exercisable at end of year	$ 105,114
Number of shares expected to vest	825,000
Weighted-average vesting period (in months)	11 months
Stock Options | Share-Based Payment Arrangement, Tranche One
Stock-Based Compensation
Contractual term of the stock options	1 year
Stock Options | Share-Based Payment Arrangement, Tranche Two
Stock-Based Compensation
Contractual term of the stock options	3 months
Employee Stock Option Ten Year Term
Summary of equity awards, options
Granted (in units)			604,000
Minimum | Stock Options
Fair Value Assumptions
Expected grantee forfeiture rate (as a percent)	0.00%	0.00%	0.00%
Maximum | Stock Options
Fair Value Assumptions
Expected grantee forfeiture rate (as a percent)	5.10%	6.70%	6.70%