Stock-Based Compensation - Schedule of Additional Information for RSU's Under The Long-Term Incentive Plans (Details) - 2007 and 2012 Incentive plan - Restricted Stock Units (RSUs) - shares shares 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 at end of year (in shares)	487	437	418