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Stock-Based Compensation Plans - Narrative (Details) - USD ($)
12 Months Ended
Apr. 06, 2017
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Jun. 09, 2020
Dec. 31, 2016
Dec. 31, 2005
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock-based compensation expense   $ 24,547,000 $ 29,753,000 $ 27,242,000      
Stock-based compensation expense, tax benefits   4,500,000 4,500,000 3,900,000      
Stock Options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Total intrinsic value of stock options exercised   $ 2,100,000 $ 2,900,000 11,400,000      
Stock Options | Minimum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Term of award   1 year          
Stock Options | Maximum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Term of award   10 years          
LTIP Performance Shares              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock-based compensation expense       $ 400,000      
Stock based compensation awards, award payout range, maximum   200.00%          
LTIP Performance Shares | Minimum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Performance period   1 year          
LTIP Performance Shares | Maximum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Performance period   3 years          
Total Shareholder Return Awards (TSRs)              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock based compensation awards, award payout range, maximum   200.00%          
Vesting period     3 years 3 years      
TSR multiplier   20.00%          
Stock based compensation awards, award payout range, minimum   0.00%          
Issued in period (in shares)   0          
Unrecognized compensation costs   $ 7,800,000          
Unrecognized compensation costs, weighted average recognition periods   1 year 8 months 12 days          
Total Shareholder Return Awards (TSRs) | Minimum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Vesting period   1 year          
Total Shareholder Return Awards (TSRs) | Maximum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Vesting period   3 years          
Restricted Stock Units (RSUs)              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Vesting period   3 years          
Requisite service period   3 years          
Award vesting rights, incremental vesting percentage on anniversary of grant date   100.00%          
Number of shares vested (in shares)   666,026          
Shares withheld to pay employees' portion of minimum payroll withholding taxes (in shares)   201,634          
Unrecognized compensation costs   $ 32,200,000          
Unrecognized compensation costs, weighted average recognition periods   2 years 1 month 6 days          
Restricted Stock Units (RSUs) | Board Member              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Vesting period   1 year          
2017 Employee Stock Purchase Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Maximum number of shares of common stock reserved for issuance (in shares) 3,000,000            
Purchase of common stock under the plan, employee annual base compensation, amount $ 25,000            
Purchase of common stock under the plan, employee annual base compensation, percentage 10.00%            
Price of common stock purchased under ESPP, percentage 85.00%            
Discount offered pursuant to ESPP, percentage   15.00%          
Stock-based compensation expense   $ 500,000 $ 600,000 $ 600,000      
2020 Equity and Incentive Compensation Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares available for grant (in shares)         6,658,754    
2016 Equity and Performance Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares of common stock reserved for issuance (in shares)           8,000,000  
2005 Equity and Performance Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares of common stock reserved for issuance (in shares)             23,250,000