Stockholders' Equity - Schedule of Stock Repurchases (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Class of Stock [Line Items]
Total cost	$ 88,606	$ 46,132	$ 353,451
2016 Stock Repurchase Program
Class of Stock [Line Items]
Shares of common stock repurchased and retired (in shares)	574	422	3,269
Average price paid per share (in dollars per share)	$ 154.23	$ 109.37	$ 108.11
Total cost	$ 88,595	$ 46,124	$ 353,385