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Employee Stock Purchase Plan, Stock Options and Warrants - Narrative (Details) - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Allocated share-based compensation $ 21,333,000 $ 18,042,000 $ 16,090,000
Employee Stock Option [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Options granted in period (in shares) 444,000 251,000 716,000
Compensation cost not yet recognized $ 20,400,000    
Compensation cost not yet recognized, period of recognition 2 years 2 months 12 days    
Fair value of options, net of forfeitures $ 13,100,000 $ 6,300,000 $ 17,500,000
Options granted in period, weighted average grant date fair value (in dollars per share) $ 29.58 $ 24.98 $ 24.38
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 $ 10,500,000    
Compensation cost not yet recognized, period of recognition 1 year 9 months 18 days    
Vested (in shares) 61,000 44,000 26,000
Weighted average grant-date fair value (in dollars per share) $ 72.26 $ 64.54 $ 61.39
Restricted stock units granted (in shares) 229,000    
Restricted stock units vested (in shares) 61,000 44,000 26,000
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    
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 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) 115,000 48,000 52,000
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) 229,000 97,000 103,000
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) 287,000 121,000 129,000
Cash-Settled Performance-Based Share-Based Awards (Liability Awards)      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Target cash incentive $ 1,300,000 $ 1,000,000.0 $ 1,000,000.0
Liabilities associated with awards 3,400,000    
Compensation cost not yet recognized $ 3,100,000    
Compensation cost not yet recognized, period of recognition 1 year 9 months 18 days    
Amount paid in connection with liability awards $ 1,700,000 833,000 417,000
Forfeited (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 $ 4,300,000 $ 2,500,000 $ 2,500,000
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 250.00%    
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 $ 600,000    
Compensation cost not yet recognized, period of recognition 4 months 24 days    
Vested (in shares) 31,000 26,000 34,000
Weighted average grant-date fair value (in dollars per share) $ 83.99 $ 59.02 $ 61.77
Restricted stock units granted (in shares) 20,000 31,000 26,000
Restricted stock units vested (in shares) 31,000 26,000 34,000
2018 Incentive Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares available for grant (in shares) 1,709,391    
2018 Incentive Plan | Employee Stock Option [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expiration period 7 years    
2018 Incentive Plan | Employee Stock Option [Member] | Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Award vesting period 3 years    
2018 Incentive Plan | Employee Stock Option [Member] | 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) 87,673    
Purchase price for ESPP, percent of market price 95.00%