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, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Outstanding, beginning balance (in shares)	381	393	433
Granted (in shares)	0	0	0
Exercised (in shares)	(18)	(1)	(34)
Canceled (in shares)	0	(9)
Forfeited (in shares)	0	(2)	(6)
Outstanding, ending balance (in shares)	363	381	393	433
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Outstanding, beginning balance (in dollars per share)	$ 60.63	$ 61.18	$ 61.95
Granted (in dollars per share)	0	0	0
Exercised (in dollars per share)	45.96	45.90	67.21
Canceled (in dollars per share)	0	80.00
Forfeited (in dollars per share)	0	87.27	83.33
Outstanding, ending balance (in dollars per share)	$ 61.36	$ 60.63	$ 61.18	$ 61.95
Outstanding, Weighted Average Remaining Contractual Term	4 years	4 years 9 months 18 days	5 years 10 months 24 days	6 years 10 months 24 days
Outstanding, Aggregate Intrinsic Value	$ 5,886,000	$ 1,892,000	$ 4,737,000	$ 14,697,000
Exercised, Aggregate Intrinsic Value	$ 397,000	$ 4,000	$ 1,215,000
Granted, Weighted Average Grant Date Fair Value (in dollars per share)	$ 0	$ 0	$ 0