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Stockholders' Equity - Summary of Anti-Dilutive Options Excluded (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Stockholders' Equity Note [Abstract]      
Options to purchase shares of common stock (in shares) 1,568,460 1,335,898 678,310
Weighted average exercise prices of options (in dollars per share) $ 53.80 $ 55.25 $ 48.00