Equity Incentive Plan - Performance share activity (Details) - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Performance shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares Outstanding, at beginning of the period	27	0
Shares Outstanding, granted		47
Shares Outstanding, vested		(16)
Shares Outstanding, forfeited		(4)
Shares Outstanding, at end of the period		27	0
Weighted Average Grant Date Fair Value, at beginning of the period (in dollars per share)	$ 55.29	$ 0
Weighted Average Grant Date Fair Value, granted (in dollars per share)		55.29
Weighted Average Grant Date Fair Value, vested (in dollars per share)		55.29
Weighted Average Grant Date Fair Value, forfeited (in dollars per share)		55.29
Weighted Average Grant Date Fair Value, at end of the period (in dollars per share)		$ 55.29	$ 0
Vesting period			3 years
Performance units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares Outstanding, at beginning of the period	85
Shares Outstanding, granted	47	34
Shares Outstanding, vested	(21)	(27)
Shares Outstanding, at end of the period	111	85
Weighted Average Grant Date Fair Value, at beginning of the period (in dollars per share)	$ 72.27
Weighted Average Grant Date Fair Value, granted (in dollars per share)	80.34	$ 68.59
Weighted Average Grant Date Fair Value, vested (in dollars per share)	90.17	66.96
Weighted Average Grant Date Fair Value, at end of the period (in dollars per share)	$ 72.14	$ 72.27
Percentage of performance shares paid out	150.00%	106.00%	150.00%
Vesting period	3 years	3 years
Performance units and shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares Outstanding, at beginning of the period	32	78	87
Shares Outstanding, granted	33	28	43
Shares Outstanding, vested	(34)	(23)	(31)
Shares Outstanding, forfeited			(21)
Shares Outstanding, at end of the period	31	32	78	87
Weighted Average Grant Date Fair Value, at beginning of the period (in dollars per share)	$ 61.91	$ 72.13	$ 69.61
Weighted Average Grant Date Fair Value, granted (in dollars per share)	90.17	66.96	63.42
Weighted Average Grant Date Fair Value, vested (in dollars per share)	69.73	59.91	55.29
Weighted Average Grant Date Fair Value, forfeited (in dollars per share)			68.79
Weighted Average Grant Date Fair Value, at end of the period (in dollars per share)	$ 83.40	$ 61.91	$ 72.13	$ 69.61
Vesting period	3 years	3 years	3 years	3 years