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Employee Stock Purchase Plan, Stock Options and Warrants - Narrative (Details) - USD ($)
3 Months Ended 12 Months Ended
Jun. 30, 2020
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Allocated share-based compensation   $ 18,042,000 $ 16,090,000 $ 14,339,000
Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Options granted in period (in shares)   251,000 716,000 329,000
Compensation cost not yet recognized   $ 20,400,000    
Compensation cost not yet recognized, period of recognition   2 years 1 month 6 days    
Fair value of options, net of forfeitures   $ 6,300,000 $ 17,500,000 $ 4,500,000
Options granted in period, weighted average grant date fair value (in dollars per share)   $ 24.98 $ 24.38 $ 13.70
Stock-Settled Performance-Based Restricted Stock Units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   1 year    
Compensation cost not yet recognized   $ 4,700,000    
Compensation cost not yet recognized, period of recognition   1 year 7 months 6 days    
Vested (in shares)   44,000 26,000 0
Forfeited (in shares)   45,000    
Weighted average grant-date fair value (in dollars per share)   $ 64.54 $ 61.39 $ 43.63
Restricted stock units granted (in shares)   97,000    
Restricted stock units vested (in shares)   44,000 26,000 0
Number of shares of common stock for each unit   1    
Stock-Settled Performance-Based Restricted Stock Units | FCF | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor   200.00% 100.00% 200.00%
Stock-Settled Performance-Based Restricted Stock Units | rTSR        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor   125.00%    
Stock-Settled Performance-Based Restricted Stock Units | rTSR | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor   75.00%    
Stock-Settled Performance-Based Restricted Stock Units | rTSR | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor   125.00%    
Stock-Settled Performance-Based Restricted Stock Units | Performance period 1        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   1 year    
Decrease in the potential shares of common stock to be granted 25,415      
Stock-Settled Performance-Based Restricted Stock Units | Performance period 1 | FCF | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor       50.00%
Stock-Settled Performance-Based Restricted Stock Units | Performance period 1 | FCF | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor   100.00%   100.00%
Stock-Settled Performance-Based Restricted Stock Units | Performance period 2        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   2 years    
Stock-Settled Performance-Based Restricted Stock Units | Performance period 2 | FCF | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor     50.00% 50.00%
Stock-Settled Performance-Based Restricted Stock Units | Performance period 2 | FCF | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor     200.00% 200.00%
Stock-Settled Performance-Based Restricted Stock Units | Performance period 3        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   3 years    
Stock-Settled Performance-Based Restricted Stock Units | Target units granted        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Restricted stock units granted (in shares)   48,000 52,000 61,000
Stock-Settled Performance-Based Restricted Stock Units | Maximum units granted        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Restricted stock units granted (in shares)   97,000 103,000 102,000
Stock-Settled Performance-Based Restricted Stock Units | Maximum potential shares        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Restricted stock units granted (in shares)   121,000 129,000 127,000
Cash-Settled Performance-Based Share-Based Awards (Liability Awards)        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Target cash incentive   $ 1,000,000.0 $ 1,000,000.0 $ 1,000,000.0
Liabilities associated with awards   3,200,000    
Compensation cost not yet recognized   $ 1,900,000    
Compensation cost not yet recognized, period of recognition   1 year 8 months 12 days    
Amount paid in connection with liability awards   $ 833,000 417,000  
Vested (in shares)       0
Forfeited (in shares)   0   0
Restricted stock units vested (in shares)       0
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Target cash incentive   $ 2,500,000 $ 2,500,000  
Multiplying factor   250.00% 250.00%  
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 1        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   1 year    
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 1 | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Multiplying factor       125.00%
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 2        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   2 years    
Cash-Settled Performance-Based Share-Based Awards (Liability Awards) | Performance period 3        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   3 years    
Restricted Stock Units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   1 year    
Compensation cost not yet recognized   $ 700,000    
Compensation cost not yet recognized, period of recognition   4 months 24 days    
Vested (in shares)   26,000 34,000 0
Weighted average grant-date fair value (in dollars per share)   $ 59.02 $ 61.77 $ 42.98
Restricted stock units granted (in shares)   31,000 26,000 34,000
Restricted stock units vested (in shares)   26,000 34,000 0
2018 Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares available for grant (in shares)   2,817,861    
2018 Incentive Plan | Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expiration period   7 years    
2018 Incentive Plan | Stock Options | Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   3 years    
2018 Incentive Plan | Stock Options | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   5 years    
ESPP        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares available for grant (in shares)   102,739    
Purchase price for ESPP, percent of market price   95.00%