Stock Repurchase Program (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Apr. 27, 2022
Stock repurchase program
Shares authorized under repurchase program	4,020,021			4,120,021
Cost of shares repurchased under other arrangements	$ 9,316	$ 9,126	$ 1,053
2022 Stock Repurchase Program
Stock repurchase program
Shares authorized under repurchase program				3,750,000
Number of shares repurchased	100,000	0
Average price per share	$ 67.48
2021 Stock Repurchase Plan
Stock repurchase program
Remaining authorized shares available for repurchase				370,021
Number of shares repurchased		1,312,038
Average price per share		$ 83.99
Other stock repurchase arrangements
Stock repurchase program
Number of shares repurchased	131,827	112,389	13,412
Cost of shares repurchased under other arrangements	$ 9,300	$ 9,100	$ 1,100