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Stock-Based Compensation - Schedule of Outstanding And Exercisable Stock Options Exercise Price (Details) - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award        
Outstanding stock options, number of options (in shares) 224 312 409 793
Outstanding stock options, weighted - exercise price per share (in dollars per share) $ 21.45 $ 21.65 $ 21.51 $ 20.81
Outstanding stock options, weighted- average remaining contractual life 2 years 1 month 6 days      
Exercisable stock options, number of options (in shares) 224      
Exercisable stock options, weighted - exercise price per share (in usd per share) $ 21.45      
Exercisable stock options, weighted - average remaining contractual life 2 years 1 month 6 days      
Under $10.00        
Share-based Compensation Arrangement by Share-based Payment Award        
Exercise price range, upper limit (in usd per share) $ 10.00      
Outstanding stock options, number of options (in shares) 2      
Outstanding stock options, weighted - exercise price per share (in dollars per share) $ 8.98      
Outstanding stock options, weighted- average remaining contractual life 2 years 7 months 6 days      
Exercisable stock options, number of options (in shares) 2      
Exercisable stock options, weighted - exercise price per share (in usd per share) $ 8.98      
Exercisable stock options, weighted - average remaining contractual life 2 years 7 months 6 days      
$20.01-$30.00        
Share-based Compensation Arrangement by Share-based Payment Award        
Exercise price range, lower limit (in usd per share) $ 10.01      
Exercise price range, upper limit (in usd per share) $ 20.00      
Outstanding stock options, number of options (in shares) 136      
Outstanding stock options, weighted - exercise price per share (in dollars per share) $ 18.59      
Outstanding stock options, weighted- average remaining contractual life 1 year 4 months 24 days      
Exercisable stock options, number of options (in shares) 136      
Exercisable stock options, weighted - exercise price per share (in usd per share) $ 18.59      
Exercisable stock options, weighted - average remaining contractual life 1 year 4 months 24 days      
$20.01-$30.00        
Share-based Compensation Arrangement by Share-based Payment Award        
Exercise price range, lower limit (in usd per share) $ 20.01      
Exercise price range, upper limit (in usd per share) $ 30.00      
Outstanding stock options, number of options (in shares) 86      
Outstanding stock options, weighted - exercise price per share (in dollars per share) $ 26.26      
Outstanding stock options, weighted- average remaining contractual life 3 years 2 months 12 days      
Exercisable stock options, number of options (in shares) 86      
Exercisable stock options, weighted - exercise price per share (in usd per share) $ 26.26      
Exercisable stock options, weighted - average remaining contractual life 3 years 2 months 12 days