Equity and Cash Incentive Program - Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]
Pre-tax stock-based compensation expense	$ 31,465	$ 30,821	$ 31,111
Tax benefit	(3,266)	(2,993)	(2,859)
Total stock-based compensation expense, net of tax	$ 28,199	$ 27,828	$ 28,252