Stock-Based Compensation, Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Stock Options Shares Outstanding, Beginning balance (in shares)	3,994
Exercised (in shares)	178
Forfeited or expired (in shares)	24
Stock Options Shares Outstanding, Ending balance (in shares)	3,792	3,994
Options exercisable (in shares)	3,583
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Stock Options Outstanding, Weighted Average Exercise Price, Beginning balance (in usd per share)	$ 21.06
Exercised, Weighted Average Exercise Price (in usd per share)	17.26
Forfeited or expired, Weighted Average Exercise Price (in usd per share)	19.54
Stock Options Outstanding, Weighted Average Exercise Price, Ending balance (in usd per share)	21.25	$ 21.06
Options Exercisable, Weighted Average Exercise Price (in usd per share)	$ 21.44
Stock Options Outstanding, Weighted Average Remaining Contractual Term	4 years 3 months 3 days	5 years 1 month 9 days
Options exercisable, Weighted Average Remaining Contractual Term	4 years 1 month 24 days
Stock Options Outstanding, Aggregate Intrinsic Value	$ 5,834	$ 10,525
Options exercisable, Aggregate Intrinsic Value	$ 5,139

The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 718
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-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(iv)
-Publisher FASB
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Weighted average price of options that were either forfeited or expired.

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- Definition

Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Number of share options (or share units) exercised during the current period.

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