Summary of Significant Accounting Policies - Stock-Based Compensation (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended	12 Months Ended
	May 31, 2021	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Apr. 30, 2021
Employee stock-based awards
Stock-based compensation		$ 73,799	$ 56,861	$ 61,001
Stock-based compensation expense (income), net of tax		$ 68,309	$ 52,600	59,243
Total amount of common stock reserved and available for issuance pursuant to awards granted under the 2014 Plan (in shares)		20,750,000
Performance units disclosure
Qualifying service period		5 years
Employee Stock Purchase Plan
Total amount of common stock reserved and available for issuance pursuant to awards granted under the 2014 Plan (in shares)		20,750,000
Employee stock purchase plan, shares available for grant (in shares)		6,204,098
Employee stock-based awards, unrecognized compensation costs on nonvested awards		$ 61,799
Employee stock-based awards, weighted average recognition period		1 year 10 months 24 days
Performance Units Original Awards
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options
Non-vested at the beginning of the period (in shares)		830,173
Granted (in shares)		641,412
Prior year grant adjustments for performance above target (in shares)		0
Vested (in shares)		(615,588)
Forfeited (in shares)		(51,087)
Non-vested at the end of the period (in shares)		804,910	830,173
Restricted Stock Units (RSUs)
Employee stock-based awards
Award vesting period		3 years
Aggregate intrinsic value
Total fair value of shares or units vested		$ 32,664	$ 27,078	29,332
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options
Non-vested at the beginning of the period (in shares)		1,306,115
Granted (in shares)		1,035,583
Vested (in shares)		(762,683)
Forfeited (in shares)		(218,751)
Non-vested at the end of the period (in shares)		1,360,264	1,306,115
Weighted average grant date fair value
Weighted average grant date fair value, non-vested, beginning of period (in dollars per share)		$ 43.43
Weighted average grant date fair value, granted (in dollars per share)		53.02
Weighted average grant date fair value, vested (in dollars per share)		42.83
Weighted average grant date fair value, forfeited (in dollars per share)		48.63
Weighted average grant date fair value, non-vested, end of period (in dollars per share)		$ 50.24	$ 43.43
PUs Adjustment
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options
Non-vested at the beginning of the period (in shares)		(484,550)
Granted (in shares)		0
Prior year grant adjustments for performance above target (in shares)		160,993
Vested (in shares)		0
Forfeited (in shares)		0
Non-vested at the end of the period (in shares)		(323,557)	(484,550)
Performance Units
Employee stock-based awards
Award vesting period		3 years
Aggregate intrinsic value
Total fair value of shares or units vested		$ 34,896	$ 20,059	$ 29,701
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options
Non-vested at the beginning of the period (in shares)		345,623
Granted (in shares)		641,412
Prior year grant adjustments for performance above target (in shares)		160,993
Vested (in shares)		(615,588)
Forfeited (in shares)		(51,087)
Non-vested at the end of the period (in shares)		481,353	345,623
Weighted average grant date fair value
Weighted average grant date fair value, non-vested, beginning of period (in dollars per share)		$ 45.65
Weighted average grant date fair value, granted (in dollars per share)		55.76
Weighted average grant date fair value, vested (in dollars per share)		56.69
Prior year grant adjustments for performance above target (in dollars per share)		42.66
Weighted average grant date fair value, forfeited (in dollars per share)		53.60
Weighted average grant date fair value, non-vested, end of period (in dollars per share)		$ 43.16	$ 45.65
Performance units disclosure
Period of anniversary from the date of grant		3 years
Qualifying service period		3 years
Performance Units | Revenue or revenue growth and return on invested capital
Performance units disclosure
Performance period		3 years
Performance Units | Minimum | Market condition associated with shareholder return of common stock
Performance units disclosure
Percentage payout rate		0.00%	0.00%	0.00%
Performance Units | Maximum | Market condition associated with shareholder return of common stock
Performance units disclosure
Percentage payout rate		350.00%	350.00%	200.00%
Employee Stock Purchase Plan
Employee Stock Purchase Plan
Employee stock purchase plan, offering periods		6 months
Percentage of market price for the purchase of shares		95.00%
Employee stock purchase plan, maximum employee subscription rate percent		15.00%
Employee stock purchase plan, shares issued in period (in shares)		120,647	112,486	112,297
Employee stock purchase plan, shares available for grant (in shares)		870,857
Employee stock purchase plan, duration of offering periods		6 months
Three Year Vesting Option
Employee stock-based awards
Contractual term of awards		10 years
Award vesting period		3 years
Employee And Non Employees Stock Option
Employee stock-based awards
Fair value of options granted (in dollars per share)		$ 10.98	$ 7.44	$ 3.23
Weighted average assumptions used for grants
Expected volatility (as a percent)		29.10%	28.00%	28.30%
Risk-free interest rate (as a percent)		3.92%	1.72%	1.45%
Expected dividend yield (as a percent)		5.00%	5.00%	7.00%
Expected life of the option		10 years	10 years	10 years
Summary of option activity
Options outstanding balance, beginning of period (in shares)		4,226,319
Options granted (in shares)		157,132
Options exercised (in shares)		(322,854)
Options outstanding balance, end of period (in shares)		4,060,597	4,226,319
Options exercisable balance (in shares)		3,619,289
Options expected to vest (in shares)		441,308
Weighted Average Exercise Price
Weighted average exercise price, options outstanding balance beginning of period (in dollars per share)		$ 36.89
Weighted average exercise price, options granted (in dollars per share)		52.58
Weighted average exercise price, options exercised (in dollars per share)		32.66
Weighted average exercise price, options outstanding balance end of period (in dollars per share)		37.84	$ 36.89
Weighted average exercise price, options exercisable (in dollars per share)		36.85
Weighted average exercise price, options expected to vest (in dollars per share)		$ 45.86
Weighted average remaining contractual term
Weighted average remaining contractual term, options outstanding		4 years 5 months 8 days
Weighted average remaining contractual term, options exercisable		3 years 11 months 23 days
Weighted average remaining contractual term, options expected to vest		8 years 2 months 12 days
Aggregate intrinsic value
Aggregate intrinsic value, options outstanding		$ 130,548
Aggregate intrinsic value, options exercisable		119,903
Aggregate intrinsic value, options expected to vest		$ 10,645
Performance Units Original Awards
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options
Granted (in shares)			435,675	488,953
2014 Plan
Employee stock-based awards
Total amount of common stock reserved and available for issuance pursuant to awards granted under the 2014 Plan (in shares)	20,750,000				12,750,000
Employee Stock Purchase Plan
Shares of our common stock authorized for issuance (in shares)	8,000,000
Total amount of common stock reserved and available for issuance pursuant to awards granted under the 2014 Plan (in shares)	20,750,000				12,750,000
2013 Employee Stock Purchase Plan | Employee Stock Purchase Plan
Employee stock-based awards
Total amount of common stock reserved and available for issuance pursuant to awards granted under the 2014 Plan (in shares)		2,000,000
Employee Stock Purchase Plan
Total amount of common stock reserved and available for issuance pursuant to awards granted under the 2014 Plan (in shares)		2,000,000