Stock-Based Compensation - Schedule of Option and Appreciation Rights Activity (Details)	12 Months Ended
	Dec. 31, 2022 $ / shares shares
2015 Plan
Stock Options
Outstanding (in shares) | shares	3,635,837
Granted (in shares) | shares	633,626
Exercised (in shares) | shares	(134,222)
Canceled (in shares) | shares	(81,951)
Outstanding (in shares) | shares	4,053,290
Shares exercisable at end of year (in shares) | shares	2,892,161
Weighted- Average Exercise Price
Outstanding at beginning of year (in usd per share) | $ / shares	$ 42.60
Granted (in usd per share) | $ / shares	65.32
Exercised (in usd per share) | $ / shares	15.64
Canceled (in usd per share) | $ / shares	90.83
Outstanding at end of year (in usd per share) | $ / shares	46.07
Shares exercisable at end of year (in usd per share) | $ / shares	$ 39.58
2005 Plan
Stock Options
Outstanding (in shares) | shares	68,225
Granted (in shares) | shares	0
Exercised (in shares) | shares	(3,000)
Canceled (in shares) | shares	(1,500)
Outstanding (in shares) | shares	63,725
Shares exercisable at end of year (in shares) | shares	63,725
Weighted- Average Exercise Price
Outstanding at beginning of year (in usd per share) | $ / shares	$ 109.52
Granted (in usd per share) | $ / shares	0
Exercised (in usd per share) | $ / shares	31.10
Canceled (in usd per share) | $ / shares	121.00
Outstanding at end of year (in usd per share) | $ / shares	112.94
Shares exercisable at end of year (in usd per share) | $ / shares	$ 112.94