Stock-Based Compensation - ESPP Activity (Details) - 1999 ESPP - USD ($) $ / shares in Units, shares in Thousands, $ 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]
Issuance of common stock under employee stock purchase plan (in shares)	797	688	649
Weighted average purchase price (in dollars per share)	$ 78.29	$ 82.83	$ 92.05
Issuance of common stock	$ 62,365	$ 56,570	$ 59,714