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Stock-Based Compensation - Summary of RSUs Under the Long-Term Incentive Plans (Details) - 2007 and 2012 Incentive plan - Restricted Stock Units (RSUs) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Shares      
RSUs outstanding, beginning balance (in shares) 454 439 375
Granted (in shares) 271 192 194
Released (in shares) (193) (134) (105)
Forfeited (in shares) (45) (43) (25)
RSUs outstanding, ending balance (in shares) 487 454 439
Expected to vest as of December 31, 2021 (in shares) 487 437 418
Weighted Average Grant Date Fair Value      
RSUs outstanding, beginning balance (usd per share) $ 126.79    
Granted (usd per share) 101.42    
Released (usd per share) 132.32    
Forfeited (usd per share) 133.83    
RSUs outstanding, ending balance (usd per share) $ 109.83 $ 126.79  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Additional Disclosures [Abstract]      
Ending balance, weighted average remaining contractual term (years) 10 months 24 days    
Expected to vest, weighted average remaining contractual term (years) 10 months 24 days    
Ending balance, aggregate intrinsic value $ 50,438    
Expected to vest, aggregate intrinsic value $ 50,438