Stock-Based Compensation - Stock Option Summary (Details) - Share-based Payment Arrangement, Option [Member] - USD ($) $ / shares in Units, shares in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Outstanding, beginning balance (in shares)	393	433	458
Granted (in shares)	0	0	83
Exercised (in shares)	(1)	(34)	(103)
Canceled (in shares)	(9)
Forfeited (in shares)	(2)	(6)	(5)
Outstanding, ending balance (in shares)	381	393	433	458
Exercisable, ending balance (in shares)	360
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Outstanding, beginning balance (in dollars per share)	$ 61.18	$ 61.95	$ 56.38
Granted (in dollars per share)	0	0	84.39
Exercised (in dollars per share)	45.90	67.21	53.99
Canceled (in dollars per share)	80.00
Forfeited (in dollars per share)	87.27	83.33	83.94
Outstanding, ending balance (in dollars per share)	60.63	$ 61.18	$ 61.95	$ 56.38
Exercisable, ending balance (in dollars per share)	$ 59.25
Outstanding, Weighted Average Remaining Contractual Term	4 years 9 months 18 days	5 years 10 months 24 days	6 years 10 months 24 days	7 years
Exercisable, Weighted Average Remaining Contractual Term	4 years 8 months 12 days
Outstanding, Aggregate Intrinsic Value	$ 1,892,000	$ 4,737,000	$ 14,697,000	$ 12,641,000
Exercised, Aggregate Intrinsic Value	4,000	$ 1,215,000	$ 2,061,000
Exercisable, Aggregate Intrinsic Value	$ 1,892,000
Granted, Weighted Average Grant Date Fair Value (in dollars per share)	$ 0	$ 0	$ 26.37