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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, 2022
Dec. 31, 2021
Dec. 31, 2020
Shares      
RSUs outstanding, beginning balance (in shares) 439 375 362
Granted (in shares) 192 194 192
Released (in shares) (134) (105) (146)
Forfeited (in shares) (43) (25) (33)
RSUs outstanding, ending balance (in shares) 454 439 375
Expected to vest as of December 31, 2021 (in shares) 437 418 361
Weighted average grant date fair value      
RSUs outstanding, beginning balance (usd per share) $ 128.62    
Granted (usd per share) 137.30    
Released (usd per share) 143.41    
Forfeited (usd per share) 140.66    
RSUs outstanding, ending balance (usd per share) $ 126.79 $ 128.62  
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    
Expected to vest, weighted average remaining contractual term (years) 1 year    
Ending balance, aggregate intrinsic value $ 46,378    
Expected to vest, aggregate intrinsic value $ 44,668