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Equity Incentive Plans - Schedule of Changes in Performance Stock Awards (Details) - Performance stock awards - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number      
Outstanding at the beginning of the period (in shares) 796    
Granted (in shares) 240    
Adjustment for performance achievement (in shares) 54    
Vested (in shares) (309)    
Forfeited (in shares) (47)    
Outstanding at the end of the period (in shares) 734 796  
Weighted average grant date fair value      
Weighted average grant date fair value, nonvested at the beginning of the period (in dollars per share) $ 116.36    
Weighted average grant date fair value, granted (in dollars per share) 136.62 $ 123.08 $ 107.14
Weighted average grant date fair value, adjustment for performance achievement (in dollars per share) 123.72    
Weighted average grant date fair value, vested (in dollars per share) 122.47    
Weighted average grant date fair value, forfeited (in dollars per share) 120.53    
Weighted average grant date fair value, nonvested at the end of the period (in dollars per share) $ 120.68 $ 116.36