Stockholders' Equity and Share-Based Compensation - Additional Information (Details) - USD ($)	1 Months Ended		12 Months Ended					51 Months Ended
	Feb. 28, 2023	May 31, 2021	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2022	Feb. 29, 2020	Oct. 31, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Preferred shares, Authorized		7,000,000.0	7,000,000	7,000,000				7,000,000
Preferred shares, voting rights		one vote per share
Preferred shares, Issued			0	0				0
Preferred shares, outstanding			0	0				0
Repurchase of common stock				$ 10,000,000
Share-based compensation expense recognized			$ 25,588,000	23,108,000	$ 25,606,000
Unrecognized stock-based compensation expense			$ 34,100,000
Unrecognized stock-based compensation expense, weighted-average recognition period			1 year 1 month 6 days
Restricted Stock Units and Deferred Stock Units | Board of Directors
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation expense recognized			$ 1,200,000	$ 1,100,000	$ 1,100,000
Amended and Restated 2010 Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Maximum number of shares to be issued		6,148,613
Incentive plan and award expiration date			May 13, 2031
Shares available for future issuance			1,900,581
Amended and Restated 2010 Incentive Plan | Restricted Stock Units and Deferred Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total fair value of stock units vested			$ 16,900,000
Amended and Restated 2010 Incentive Plan | Restricted Stock Units (RSUs) | Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period			0 years
Amended and Restated 2010 Incentive Plan | Restricted Stock Units (RSUs) | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period			0 years
Amended and Restated 2010 Incentive Plan | Deferred Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of outstanding shares			41,000	38,000				38,000
Amended and Restated 2010 Incentive Plan | Attainment-based PSUs | Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Range of percentage of shares to be issued upon settlement following vesting of target number of shares			0.00%
Amended and Restated 2010 Incentive Plan | Attainment-based PSUs | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Range of percentage of shares to be issued upon settlement following vesting of target number of shares			200.00%
Amended and Restated 2010 Incentive Plan | Market-based PSUs | Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Range of percentage of shares to be issued upon settlement following vesting of target number of shares			0.00%
Amended and Restated 2010 Incentive Plan | Market-based PSUs | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Range of percentage of shares to be issued upon settlement following vesting of target number of shares			200.00%
Amended and Restated 2010 Incentive Plan | Hybrid PSUs | Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Range of percentage of shares to be issued upon settlement following vesting of target number of shares			0.00%
Amended and Restated 2010 Incentive Plan | Hybrid PSUs | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Range of percentage of shares to be issued upon settlement following vesting of target number of shares			260.00%
Amended and Restated 2010 Incentive Plan | Performance Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total fair value of stock units vested			$ 9,900,000
Amended and Restated 2010 Incentive Plan | Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period	3 years
Stock options, Granted	48,000		48,000
Stock options, Expiration Period	7 years
Fair value of stock options granted			$ 3,000,000
2018 Repurchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock repurchase program authorized amount										$ 25,000,000.0
Shares repurchased				80,000		65,000	119,000	264,000
Repurchase of common stock				$ 9,500,000		$ 5,500,000	$ 10,000,000	$ 25,000,000
Shares repurchased, average cost per share				$ 118.97		$ 84.55	$ 83.71	$ 94.57
2020 Repurchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock repurchase program authorized amount									$ 50,000,000
Shares repurchased			0	4,000
Repurchase of common stock				$ 500,000
Shares repurchased, average cost per share				$ 116.95
Available for share repurchases			$ 49,500,000