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Stock Incentive Plans - Summary of Activity Under Incentive Plan (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Restricted Common Stock | Chief Executive Officer      
Weighted average grant date fair value, per share, of:      
Accelerated vesting, number 624,725    
2014 Incentive Plan | Restricted Common Stock      
Stock-based awards:      
Stock-based awards, beginning of year (in shares) 1,708,000 1,416,000 1,164,000
Granted (in shares) 361,000 318,000 273,000
Vested (in shares) (692,000) (22,000) (20,000)
Forfeited (in shares) (3,000) (4,000) (1,000)
Stock-based awards, end of year (in shares) 1,374,000 1,708,000 1,416,000
Weighted average grant date fair value, per share, of:      
Stock-based awards, beginning of year (in dollars per share) $ 37.43 $ 33.89 $ 31.04
Stock-based awards granted during the year (in dollars per share) 36.78 41.45 48.48
Stock-based awards vested during the year (in dollars per share) 35.38 23.54 26.52
Stock-based awards forfeited during the year (in dollars per share) 43.83 41.87 49.81
Stock-based awards, end of year (in dollars per share) $ 36.45 $ 37.43 $ 33.89
Grant date fair value of shares granted during the year $ 13,220 $ 13,232 $ 13,251
2014 Incentive Plan | Stock in lieu of compensation      
Stock-based awards:      
Granted (in shares) 141,000 116,000 96,000
2014 Incentive Plan | Stock awards      
Stock-based awards:      
Granted (in shares) 220,000 202,000 177,000