Share-Based Compensation and Other Benefit Programs - Additional Information (Details) - Options - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Aggregate intrinsic value of options exercised	$ 1,273	$ 2,926	$ 3,354
Tax benefit of options exercised	267	614	704
Cash received from options exercised	$ 1,755	$ 1,341	$ 1,382