Share-Based Compensation and Other Benefit Programs - Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Compensation cost recognized
Total compensation cost recognized	$ 38,061	$ 28,363	$ 19,193
Income tax benefit related to share-based compensation expense	7,524	7,168	4,264
Share-based compensation expense, net	30,537	21,195	14,929
RSUs
Compensation cost recognized
Total compensation cost recognized	37,465	27,803	18,403
ESPP and other
Compensation cost recognized
Total compensation cost recognized	$ 596	$ 560	$ 790