Annual report pursuant to Section 13 and 15(d)

SUMMARY OF SIGNIFICANT ACCOUNTING POLICIES - Narrative (Details)

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SUMMARY OF SIGNIFICANT ACCOUNTING POLICIES - Narrative (Details)
 12 Months Ended
Dec. 31, 2022
USD ($)
item
Dec. 31, 2021
USD ($)
item
Dec. 31, 2020
USD ($)
item
Summary of significant accounting policies      
Revenues $ 2,695,823,000 $ 2,424,300,000 $ 2,161,220,000
Goodwill impairment loss 0    
Impairment of intangible assets $ 0    
Time Lapse Restricted Shares      
Summary of significant accounting policies      
Award vesting period   6 years  
UNITED STATES      
Summary of significant accounting policies      
Number of franchise agreements | item 137 135 128
Revenues $ 2,498,363,000 $ 2,240,226,000 $ 2,006,368,000
International      
Summary of significant accounting policies      
Number of franchise agreements | item 89 103 101
Revenues $ 197,460,000 $ 184,074,000 $ 154,852,000
Percent of total revenues 7.00% 8.00% 7.00%
Cash held in FDIC $ 26,700,000    
Franchising revenue      
Summary of significant accounting policies      
Revenues $ 15,500,000 $ 15,500,000 $ 15,200,000
Maximum | Time Lapse Restricted Shares      
Summary of significant accounting policies      
Award vesting period 5 years 6 years  
Maximum | Franchising revenue      
Summary of significant accounting policies      
Percent of total revenues 1.00% 1.00% 1.00%
Maximum | Equipment rental      
Summary of significant accounting policies      
Percent of total revenues 1.00% 1.00% 1.00%