Stockholders' Equity - Number of Shares (Details) - shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of the number of shares outstanding with the number of shares used in computing basic and diluted earnings per share
Common shares outstanding, end of period	35,685	35,761	36,091
Effect of using weighted average common shares outstanding	117	171	194
Shares used in computing earnings per share-basic	35,802	35,932	36,285
Effect of shares issuable under stock option plans based on the treasury stock method	26	36	89
Effect of restricted and contingently issuable shares	67	78	76
Shares used in computing earnings per share-diluted	35,895	36,046	36,450