Share-Based Compensation - Summary of Share Based Compensation Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Weighted- Average Grant-Date Fair Value
Granted (in dollars per share)	$ 95.32	$ 61.61	$ 51.76
SARs and Stock Options
Number
Outstanding at beginning of period (in shares)	958
Granted (in shares)	115
Exercised or converted (in shares)	(576)
Forfeited or expired (in shares)	(84)
Outstanding at end of period (in shares)	413	958
Exercisable or convertible (in shares)	213
Weighted- Average Exercise Price
Outstanding at beginning of period (in dollars per share)	$ 64.13
Granted (in dollars per share)	85.77
Exercised or converted (in dollars per share)	67.85
Forfeited or expired (in dollars per share)	63.97
Outstanding at end of period (in dollars per share)	64.97	$ 64.13
Exercisable or convertible (in dollars per share)	$ 61.16
Weighted- Average Remaining Contractual Term
Outstanding	6 years 7 months 6 days	4 years 9 months 18 days
Exercisable or convertible	4 years 9 months 18 days
Aggregate Intrinsic Value
Outstanding	$ 6,220	$ 10,017
Exercisable or convertible	$ 3,684
Restricted Stock Units
Number
Outstanding at beginning of period (in shares)	897
Granted (in shares)	410
Exercised or converted (in shares)	(398)
Forfeited or expired (in shares)	(210)
Outstanding at end of period (in shares)	699	897
Weighted- Average Grant-Date Fair Value
Outstanding at beginning of period (in dollars per share)	$ 54.59
Granted (in dollars per share)	95.32
Exercised or converted (in dollars per share)	49.77
Forfeited or expired (in dollars per share)	59.98
Outstanding at end of period (in dollars per share)	$ 71.95	$ 54.59