Stock-based Compensation - Summary of Restricted Stock Activity (Details) - Stock Incentive Plan - Restricted stock units - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Number of Shares
Outstanding, beginning of period (in shares)	162
Granted (in shares)	61
Vested (in shares)	(49)
Forfeited (in shares)	(9)
Outstanding, end of period (in shares)	165	162
Weighted- average Grant Date Fair Value
Outstanding, beginning of period (in dollars per share)	$ 59.23
Granted (in dollars per share)	80.96	$ 68.62	$ 51.55
Vested (in dollars per share)	58.29
Forfeited (in dollars per share)	64.91
Outstanding, end of period (in dollars per share)	$ 67.31	$ 59.23