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Stock-Based Compensation - Stock Appreciation Rights (Details) - Stock Appreciation Rights SARS
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2023
USD ($)
$ / shares
shares
Number of Rights  
OUTSTANDING beginning balance (shares) | shares 779
Shares granted (shares) | shares 101
Exercised (shares) | shares (237)
Forfeited (shares) | shares (14)
Canceled (shares) | shares (2)
OUTSTANDING ending balance (shares) | shares 627
EXERCISABLE (shares) | shares 397
Weighted Average Exercise Price (USD per share)  
OUTSTANDING beginning balance (USD per share) | $ / shares $ 144.66
Granted (USD per share) | $ / shares 247.26
Exercised (USD per share) | $ / shares 129.12
Forfeited (USD per share) | $ / shares 200.89
Canceled (USD per share) | $ / shares 111.60
OUTSTANDING AT ending balance (USD per Share) | $ / shares 165.84
EXCERCISABLE (USD per share) | $ / shares $ 142.04
Weighted average remaining contractual term, outstanding 6 years 8 months 12 days
Weighted average remaining contractual term, exercisable 5 years 8 months 12 days
Aggregate intrinsic value, outstanding | $ $ 102,333
Aggregate intrinsic value, exercisable | $ $ 74,257