Earnings Per Share - Schedule of Reconciliation of Weighted Average Share Amounts used to Compute Both Basic and Diluted Earnings Per Share (Details) - shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Weighted average shares outstanding:
Basic weighted average shares outstanding (in shares)	108,497	113,700	117,407
Add: Dilutive effect of stock options, RSUs, and contingently issuable shares (in shares)	360	538	1,240
Diluted weighted average shares outstanding (in shares)	108,857	114,238	118,647