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Equity and Cash Incentive Program - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
May 03, 2012
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
May 07, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares available for grant         13,188,197
Plan expiration period 10 years        
Service requisite period   3 years      
Award term   10 years      
2021 Plan - Rollover from 2012 Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares available for grant         4,888,197
2021 Plan - New Issuance          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Shares available for grant         8,300,000
Stock Appreciation Rights (SARs)          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Granted (in shares)   335,285 413,173 390,780  
Unrecognized compensation expense   $ 9,855      
Unrecognized compensation expense period of recognition   1 year 9 months 18 days      
Fair value per share at date of grant (in dollars per share)   $ 42.07 $ 29.08 $ 22.54  
Performance Shares          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Service requisite period   3 years      
Granted (in shares)   40,087 50,371 49,056  
Vesting period   3 years      
Unrecognized compensation expense   $ 7,702      
Unrecognized compensation expense period of recognition   1 year 8 months 12 days      
Fair value per share at date of grant (in dollars per share)   $ 196.40 $ 148.29 $ 165.71  
Restricted Stock Units (RSUs)          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Granted (in shares)   79,556 87,177 83,512  
Vesting period   3 years      
Unrecognized compensation expense   $ 9,762      
Unrecognized compensation expense period of recognition   1 year 4 months 24 days      
Fair value per share at date of grant (in dollars per share)   $ 160.21 $ 122.73 $ 119.86