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Stock Based Compensation - Additional Information (Details) $ / shares in Units, $ in Thousands | 1 Months Ended | 12 Months Ended |  |  |  |  |  |  |  |  |
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May 31, 2023 shares | May 31, 2022 shares | May 31, 2021 shares | Jul. 31, 2009 | Dec. 31, 2023 USD ($) $ / shares shares | Dec. 31, 2022 USD ($) shares | Dec. 31, 2021 USD ($) shares | Dec. 31, 2016 | Dec. 31, 2015 | Aug. 31, 2023 $ / shares | Jul. 31, 2023 USD ($) $ / shares shares | Aug. 31, 2022 $ / shares | Jul. 31, 2022 USD ($) $ / shares shares | Aug. 31, 2021 $ / shares | Jul. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2020 shares | May 01, 2019 shares | Dec. 31, 2010 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Incremental increases in average stock price from initial grant price |  |  |  |  | 20.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, award requisite service period |  |  |  | 20 years | 15 years |  |  |  |  |  |  |  |  |  |  |  |  |
Attainment age of stock plan |  |  |  |  | attainment of age 64 |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, options, grants in period, gross |  |  |  |  | 10,155,094 |  |  |  |  |  |  |  |  |  |  |  |  |
Share based compensation arrangement by share based payment award equity instruments other than options awarded shares outstanding number |  |  |  |  | 167,772 |  |  |  |  |  |  |  |  |  |  |  |  |
Share based compensation arrangement by share based payment award equity instruments other than options distributed shares outstanding number |  |  |  |  | 9,987,322 |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based compensation, shares authorized under stock option plans, exercise price range, lower range limit | $ / shares |  |  |  |  | $ 8.89 |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based compensation, shares authorized under stock option plans, exercise price range, upper range limit | $ / shares |  |  |  |  | $ 10.31 |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based compensation arrangement by share-based payment award, equity instruments other than options, vested in period, fair value | $ |  |  |  |  | $ 30,600 | $ 6,300 | $ 2,300 |  |  |  |  |  |  |  |  |  |  |
Number of shares authorized |  |  |  |  | 34,000,000 |  |  |  |  |  |  |  |  |  |  |  |  | 28,800,000
Maximum employee subscription rate |  |  |  |  | 10.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Compensation cost not yet recognized | $ |  |  |  |  | $ 205,100 |  |  |  |  |  |  |  |  |  |  |  |  |
Compensation cost not yet recognized, period for recognition |  |  |  |  | 3 years 6 months 10 days |  |  |  |  |  |  |  |  |  |  |  |  |
Employee Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares available for grant |  |  |  |  | 2,991,813 |  |  |  |  |  |  |  |  |  |  |  |  |
Threshold period worked per week by employees |  |  |  |  | 20 |  |  |  |  |  |  |  |  |  |  |  |  |
Allotted value maximum | $ |  |  |  |  | $ 25,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Subscription period beginning |  |  |  |  | August 1st |  |  |  |  |  |  |  |  |  |  |  |  |
Subscription period ending |  |  |  |  | July 31st |  |  |  |  |  |  |  |  |  |  |  |  |
Purchase price of common stock, percentage |  |  |  |  | 85.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Percentage of market price |  |  |  |  | 15.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Value of one year stock option percentage |  |  |  |  | 85.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Estimated fair value per share option | $ / shares |  |  |  |  |  |  |  |  |  | $ 18.13 |  | $ 15.81 |  | $ 11.60 |  |  |  |
Stock awarded |  |  |  |  |  |  |  |  |  |  | 743,856 |  | 791,842 |  | 850,956 |  |  |
Shares issued aggregate purchase value | $ |  |  |  |  |  |  |  |  |  |  | $ 39,900 |  | $ 36,500 |  | $ 32,900 |  |  |
Shares issued aggregate purchase price per share | $ / shares |  |  |  |  |  |  |  |  |  |  | $ 53.70 |  | $ 46.10 |  | $ 38.70 |  |  |
Shares held in employee stock option plan, suspense shares |  |  |  |  | 330,599 | 338,498 | 354,911 |  |  |  |  |  |  |  |  |  |  |
Cash received from proceeds by participants | $ |  |  |  |  | $ 19,700 | $ 18,200 | $ 16,400 |  |  |  |  |  |  |  |  |  |  |
2019 Stock Incentive Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares of stock reserved for issuance under stock incentive plans |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 2,283,475 |
Number of shares available for grant |  |  |  |  | 4,238,212 |  |  |  |  |  |  |  |  |  |  |  | 6,957,897 |
2010 SIP and 2019 SIP |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share based compensation arrangement by share based payment award equity instruments other than options awarded shares outstanding number |  |  |  |  | 4,276,330 | 4,754,649 | 5,025,561 |  |  |  |  |  |  |  |  | 6,919,847 |  |
Stock vesting period |  |  |  |  | 5 years |  |  |  |  |  |  |  |  |  |  |  |  |
2010 SIP and 2019 SIP | Minimum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Performance measurement period |  |  |  |  | 3 years |  |  |  |  |  |  |  |  |  |  |  |  |
Percentage of payout |  |  |  |  |  |  |  | 0.00% | 0.00% |  |  |  |  |  |  |  |  |
2010 SIP and 2019 SIP | Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Performance measurement period |  |  |  |  | 5 years |  |  |  |  |  |  |  |  |  |  |  |  |
Percentage of payout |  |  |  |  |  |  |  | 200.00% | 100.00% |  |  |  |  |  |  |  |  |
2010 Stock Incentive Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock issued to directors shares | 16,632 | 15,003 | 16,857 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |

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- Definition The highest percentage of annual salary that an employee is permitted to utilize with respect to the plan. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Number of shares authorized for issuance under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (a)(3) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Gross number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (g) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The ceiling of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (g) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Purchase price of common stock expressed as a percentage of its fair value. + References No definition available. + Details
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- Definition Number of suspense shares held by the Employee Stock Option Plan at balance sheet date. Suspense shares are shares that have not been released, committed to be released or allocated to individual participant accounts. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 40 -Section 50 -Paragraph 1 -Subparagraph (d) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480489/718-40-50-1 + Details
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