Stock-Based Compensation - Schedule of Non-Qualified Stock Options, Activity (Details) - Non-Qualified Stock Options (NQO) - $ / shares shares in Thousands |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2022 |
Dec. 31, 2021 |
Dec. 31, 2020 |
|
| Shares | |||
| Outstanding at beginning of year (in shares) | 59 | 74 | 77 |
| Granted (in shares) | 0 | 0 | 0 |
| Exercised (in shares) | (17) | (15) | (3) |
| Forfeited, canceled or expired (in shares) | 0 | 0 | 0 |
| Outstanding at end of year (in shares) | 42 | 59 | 74 |
| Weighted Average Exercise Price Per Share | |||
| Outstanding at beginning of year (in dollars per share) | $ 23.19 | $ 23.37 | $ 23.30 |
| Granted (in dollars per share) | 0 | 0 | 0 |
| Exercised (in dollars per share) | 24.02 | 24.04 | 21.43 |
| Forfeited, canceled or expired (in dollars per share) | 0 | 0 | 0 |
| Outstanding at end of year (in dollars per share) | $ 22.86 | $ 23.19 | $ 23.37 |