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Compensation Plans and Programs - Schedule of RSU Award Vesting (Details) - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Unvested RSUs      
Beginning balance (in shares) 1,180    
RSUs granted (in shares) 535    
RSUs forfeited (in shares) (197)    
RSUs vested (in shares) (410)    
Ending balance (in shares) 1,108 1,180  
Weighted Average Per Share Grant Date Fair Value      
Beginning balance (in USD per share) $ 53.36    
RSUs granted (in USD per share) 73.80    
RSUs forfeited (in USD per share) 55.07    
RSUs vested (in USD per share) 54.95 $ 67.29 $ 62.44
Ending balance (in USD per share) $ 62.34 $ 53.36  
RSUs credited on unvested RSU awards as dividend equivalents (in shares) (fewer than) 100