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Employee Benefit Plans - Stock Purchase Plan (Details) - Employee Stock - Employee Stock Purchase Plan - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Employee benefit plans [Line Items]      
Proceeds from purchase of shares by employees $ 2.2 $ 2.4 $ 2.1
Number of shares issued by the Company (in shares) 47,204 53,453 67,615