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Employee Stock Plans (Tables)
 12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of Share-Based Compensation Awards
During the years ended December 31, 2023, 2022 and 2021, we recognized compensation expense (before income tax expense) for these awards as follows (in thousands):
 202320222021
Stock options$768 $248 $1,291 
Restricted stock units and awards5,258 5,204 5,603 
Performance share units6,260 9,237 4,513 
Total share-based compensation expense$12,286 $14,689 $11,407 
Stock Award Activity
Stock option activity during the year ended December 31, 2023 was as follows (number of options in thousands):
Number of
Options		Weighted
Average
Exercise Price
Per Share		Weighted
Average
Remaining
Contractual Term		Aggregate
Intrinsic
Value
(in millions)
Outstanding at December 31, 2022553 $21.03 
Granted50 $48.40 
Exercised(453)$19.35 
Outstanding at December 31, 2023150 $35.22 3.77 years$4.1 
Vested and exercisable at December 31, 2023150 $35.22 3.77 years$4.1 
Schedule of Fair Value Option Award Weighted Average Assumptions Used The following weighted average assumptions were utilized:
 20232021
Expected volatility (1)28.57 %27.49 %
Expected option life (years) (2)4.744.71
Risk-free interest rate (3)3.89 %0.74 %
Expected dividend yield (4)— %— %

(1)The expected volatility assumption was determined based upon the historical volatility of our stock price, using daily price intervals.
(2)The expected option life was determined based upon our historical data using a midpoint scenario, which assumes all options are exercised halfway between the expiration date and the weighted average time it takes the option to vest.
(3)The risk-free interest rate assumption was upon zero-coupon U.S. Treasury bonds with a term approximating the expected life of the respective options.
(4)The expected dividend yield assumption was determined in view of our historical and estimated dividend payouts.
Schedule of Restricted Stock Award Activity
Restricted stock units and awards activity during the year ended December 31, 2023 was as follows (in thousands, except per share data):
Number of
Shares
Weighted
Average
Grant-Date
Fair Value (1)
Non-vested at December 31, 2022277 $32.62 
Granted109 $48.64 
Vested(163)$31.63 
Non-vested at December 31, 2023223 $41.19 
(1)Represents weighted average market value of the shares as the awards are granted at no cost to the recipients.
Schedule of PSU Award Activity
The following table presents our PSUs award activity during the twelve months ended December 31, 2023 (in thousands, except per share data):
 Performance Share Units
Weighted
Average
Grant-Date
Fair Value Per Unit (1)
Outstanding at December 31, 2022482 $28.84 
Granted88 $48.40 
Vested(244)$25.75 
Adjustments for performance results (2)
138 $27.68 
Outstanding at December 31, 2023464 $33.84 
(1) Represents weighted average market value of the shares; awards are granted at no cost to the recipients.
(2) Represents the change in the number of performance awards earned based on performance achievement for the performance period.