Stock-Based Compensation - Schedule of Additional Information for RSU's Under The Long-Term Incentive Plans (Details) - 2007 and 2012 Incentive plan - Restricted Stock Units (RSUs) - shares shares 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 at end of year (in shares)	437	418	361