Stock-Based Compensation - Summary of Stock Option Activity (Details) - Stock Options - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Options
Outstanding, beginning of period (in shares)	869	2,709	24,557
Exercised (in shares)	(827)	(1,680)	(21,806)
Expired (in shares)	(42)	(160)	(42)
Outstanding, end of period (in shares)	0	869	2,709
Weighted- Average Exercise Price
Outstanding, beginning of period (in dollars per share)	$ 24.68	$ 23.74	$ 22.94
Exercised (in dollars per share)	24.68	23.67	22.84
Expired (in dollars per share)	24.68	19.37	24.68
Outstanding, end of period (in dollars per share)	$ 0	$ 24.68	$ 23.74
Term and Intrinsic Value
Weighted- Average Remaining Contractual Term	0 years	2 months 12 days	1 year 1 month 6 days
Aggregate Intrinsic Value (in thousands)	$ 0	$ 63	$ 235

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Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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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 of the plan that expired.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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

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