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Employee Stock Plans (Details)
$ in Thousands, shares in Millions
12 Months Ended
Dec. 31, 2023
USD ($)
shares
Dec. 31, 2022
USD ($)
shares
Dec. 31, 2021
USD ($)
Employee Stock Plans      
Number of shares authorized | shares 24.0    
Number of shares available for grant | shares 5.0 5.6  
Share-Based Compensation Arrangement by share-based payment award, authorization rate 1.69    
Amortization of stock-based compensation | $ $ 41,569 $ 42,930 $ 36,117
Tax benefits related to stock-based compensation awards | $ $ 8,900 $ 5,900 $ 8,600
Installments over a period 4 years    
Contractual terms 10 years