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Stockholders' Equity (Tables)
 12 Months Ended
Dec. 31, 2023
Equity [Abstract]  
Schedule of Number and Cost of Common Stock Shares Repurchased The number and the cost of common stock shares repurchased during the years ended December 31, 2023, 2022 and 2021, are reflected in the following table (in thousands):
 Year Ended December 31,
 202320222021
Common stock repurchased (in shares)3,047 3,319 2,796 
Common stock repurchased$231,578 $280,130 $260,410 
Schedule of Number and Cost of Employee Stock Plan Repurchases The number and the cost of employee stock plan repurchases made during the years ended December 31, 2023, 2022 and 2021, are reflected in the following table (in thousands):
 Year Ended December 31,
 202320222021
Repurchases related to employee stock plans (in shares)331 362 347 
Repurchases related to employee stock plans$25,868 $37,678 $29,817