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Stock-Based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
2001 Stock Plan, 2011 Stock Plan and 2015 Stock Plan        
Additional disclosures        
Exercisable, Aggregate Intrinsic Value $ 151,371      
Vesting based on time | Stock options        
Additional disclosures        
Fair value of stock options vested $ 3,700 $ 3,600 $ 9,700  
Vesting based on time | 2001 Stock Plan, 2011 Stock Plan and 2015 Stock Plan        
Number of Shares Underlying Options        
Outstanding at beginning of period (in shares) 4,288 4,413 5,837  
Granted (in shares) 307 202 50  
Adjustments to certain prior year grants (in shares)     (31)  
Exercised (in shares) (694) (295) (1,301)  
Canceled/forfeited/expired (in shares) (165) (32) (142)  
Outstanding at end of period (in shares) 3,736 4,288 4,413 5,837
Vested and expected to vest at end of period (in shares) 3,613      
Exercisable at end of period (in shares) 3,221      
Weighted Average Exercise Price        
Outstanding at beginning of period (in dollars per share) $ 31.35 $ 29.01 $ 27.30  
Granted (in dollars per share) 48.84 54.99 60.74  
Adjustments to certain prior year grants (in dollars per share)     33.38  
Exercised (in dollars per share) 18.24 12.12 20.05  
Canceled/forfeited/expired (in dollars per share) 41.41 54.31 52.15  
Outstanding at end of period (in dollars per share) 34.78 $ 31.35 $ 29.01 $ 27.30
Vested and expected to vest at end of period (in dollars per share) 34.21      
Exercisable at end of period (in dollars per share) $ 32.54      
Additional disclosures        
Weighted Average Remaining Contractual Life 4 years 4 years 3 months 18 days 4 years 10 months 24 days 5 years 7 months 6 days
Weighted Average Remaining Contractual Life, Vested and expected to vest at end of period 3 years 9 months 18 days      
Weighted Average Remaining Contractual Life, Exercisable at end of period 3 years 3 months 18 days      
Aggregate Intrinsic Value for outstanding options $ 167,180 $ 60,960 $ 72,944 $ 280,055
Exercised, Aggregate Intrinsic Value 37,946 11,190 73,913  
Vested and expected to vest, Aggregate Intrinsic Value 163,753      
Vesting based on performance | Restricted Stock Units (RSUs) [Member]        
Additional disclosures        
Fair value of stock options vested 4,400 1,600 400  
Vesting based on performance | Stock options        
Additional disclosures        
Fair value of stock options vested $ 2,400 $ 400 $ 600  
Vesting based on performance | 2001 Stock Plan, 2011 Stock Plan and 2015 Stock Plan        
Number of Shares Underlying Options        
Outstanding at beginning of period (in shares) 393 129 147  
Granted (in shares) 183 282    
Adjustments to certain prior year grants (in shares)     (16)  
Exercised (in shares) (2)   (2)  
Canceled/forfeited/expired (in shares) (55) (18)    
Outstanding at end of period (in shares) 519 393 129 147
Vested and expected to vest at end of period (in shares) 336      
Exercisable at end of period (in shares) 142      
Weighted Average Exercise Price        
Outstanding at beginning of period (in dollars per share) $ 50.63 $ 39.10 $ 39.10  
Granted (in dollars per share) 48.46 55.18    
Adjustments to certain prior year grants (in dollars per share)     39.10  
Exercised (in dollars per share) 39.10   39.10  
Canceled/forfeited/expired (in dollars per share) 39.10 39.10    
Outstanding at end of period (in dollars per share) 51.13 $ 50.63 $ 39.10 $ 39.10
Vested and expected to vest at end of period (in dollars per share) 52.57      
Exercisable at end of period (in dollars per share) $ 49.01      
Additional disclosures        
Weighted Average Remaining Contractual Life 8 years 4 months 24 days 8 years 2 months 12 days 8 years 2 months 12 days 9 years 2 months 12 days
Weighted Average Remaining Contractual Life, Vested and expected to vest at end of period 7 years 10 months 24 days      
Weighted Average Remaining Contractual Life, Exercisable at end of period 7 years 6 months      
Aggregate Intrinsic Value for outstanding options $ 14,720 $ 692 $ 692 $ 5,311
Exercised, Aggregate Intrinsic Value 100 $ 63 $ 63  
Vested and expected to vest, Aggregate Intrinsic Value 9,042      
Exercisable, Aggregate Intrinsic Value $ 4,325