Stock-Based Compensation - Schedule of Share-based Compensation, Stock Options, Activity (Details) - $ / shares shares in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Number of Options
Outstanding at beginning of period (in shares)	312	409	793
Exercised (in shares)	(86)	(97)	(384)
Forfeited or expired (in shares)	(2)	0	0
Outstanding at end of period (in shares)	224	312	409
Exercisable at end of period (in shares)	224	312	386
Weighted-Average Exercise Price Per Share
Outstanding at beginning of period (in dollars per share)	$ 21.65	$ 21.51	$ 20.81
Exercised (in dollars per share)	21.97	21.06	20.06
Forfeited or expired (in dollars per share)	27.71	0	0
Outstanding at end of period (in dollars per share)	21.45	21.65	21.51
Exercisable at end of period (in dollars per share)	$ 21.45	$ 21.65	$ 21.31

The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Number of options outstanding, including both vested and non-vested options.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Number of share options (or share units) exercised during the current period.

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