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, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Payment Arrangement [Abstract]
Total intrinsic value of stock options exercised	$ 23,300	$ 27,110	$ 36,086
Cash received from stock option exercises	14,503	18,952	20,194
Excess tax benefit from the exercise of stock options	$ 3,001	$ 3,423	$ 5,571
Number of Shares
Beginning balance (in shares)	3,077
Granted (in shares)	444
Exercised (in shares)	(606)
Forfeited/expired (in shares)	(47)
Outstanding at December 31 (in shares)	2,868	3,077
Exercisable (in shares)	1,714
Ending vested and expected to vest (in shares)	2,868
Weighted Average Exercise Price
Beginning balance (in dollars per share)	$ 49.62
Granted (in dollars per share)	72.36
Exercised (in dollars per share)	33.48
Forfeited/expired (in dollars per share)	60.08
Outstanding at December 31 (in dollars per share)	56.39	$ 49.62
Exercisable (in dollars per share)	50.73
Ending vested and expected to vest (in dollars per share)	$ 56.39
Outstanding, remaining contractual term	3 years 5 months 8 days
Exercisable, remaining contractual term	2 years 4 months 24 days
Ending vested and expected to vest, remaining contractual term	3 years 5 months 8 days
Outstanding, intrinsic value	$ 56,333
Exercisable, intrinsic value	43,234
Ending vested and expected to vest, intrinsic value	$ 56,333