Equity and Cash Incentive Program - Other Information (Details) - Stock Appreciation Rights (SARs) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Fair value of SARs that became exercisable	$ 7,492	$ 8,939	$ 10,199
Aggregate intrinsic value of SARs exercised	$ 26,041	$ 11,992	$ 62,895