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Stock-Based Compensation - Summary of RSUs Under the Long-Term Incentive Plans (Details) - 2007 and 2012 Incentive plan - Restricted Stock Units (RSUs) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Shares      
Restricted Stock Units outstanding, beginning balance (in shares) 375 362 446
Granted (in shares) 194 192 187
Released (in shares) (105) (146) (230)
Forfeited (in shares) (25) (33) (41)
Restricted Stock Units outstanding, ending balance (in shares) 439 375 362
Expected to vest as of December 31, 2021 (in shares) 418 361 356
Weighted average grant date fair value      
Restricted Stock Units outstanding, beginning balance (usd per share) $ 122.84    
Granted (usd per share) 176.73    
Released (usd per share) 192.78    
Forfeited (usd per share) 145.76    
Restricted Stock Units outstanding, ending balance (usd per share) $ 128.62 $ 122.84  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Additional Disclosures [Abstract]      
Ending balance, weighted average remaining contractual term (years) 1 year 3 months 18 days    
Expected to vest, weighted average remaining contractual term (years) 1 year 3 months 18 days    
Ending balance, aggregate intrinsic value $ 79,950    
Expected to vest, aggregate intrinsic value $ 76,235