Employee Stock Purchase Plan, Stock Options and Warrants - Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Payment Arrangement [Abstract]
Total intrinsic value of stock options exercised	$ 27,110	$ 36,086	$ 11,733
Cash received from stock option exercises	18,952	20,194	5,481
Excess tax benefit from the exercise of stock options	$ 3,423	$ 5,571	$ 1,815
Number of Shares
Beginning balance (in shares)	3,640
Granted (in shares)	251
Exercised (in shares)	(703)
Forfeited/expired (in shares)	(111)
Outstanding at December 31 (in shares)	3,077	3,640
Exercisable (in shares)	1,792
Ending vested and expected to vest (in shares)	3,013
Weighted Average Exercise Price
Beginning balance (in dollars per share)	$ 44.70
Granted (in dollars per share)	63.69
Exercised (in dollars per share)	28.58
Forfeited/expired (in dollars per share)	53.16
Outstanding at December 31 (in dollars per share)	49.62	$ 44.70
Exercisable (in dollars per share)	43.50
Ending vested and expected to vest (in dollars per share)	$ 49.37
Outstanding, remaining contractual term	3 years 6 months 3 days
Exercisable, remaining contractual term	2 years 7 months 9 days
Ending vested and expected to vest, remaining contractual term	3 years 5 months 19 days
Outstanding, intrinsic value	$ 64,634
Exercisable, intrinsic value	48,595
Ending vested and expected to vest, intrinsic value	$ 64,026