Share-Based Compensation and Other Benefit Programs - Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Compensation cost recognized
Total compensation cost recognized	$ 41,129	$ 38,061	$ 28,363
Income tax benefit related to share-based compensation expense	9,434	7,524	7,168
Share-based compensation expense, net	31,695	30,537	21,195
RSUs
Compensation cost recognized
Total compensation cost recognized	40,567	37,465	27,803
ESPP and other
Compensation cost recognized
Total compensation cost recognized	$ 562	$ 596	$ 560