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Stock-Based Compensation Plans - Exercise Prices and Contractual Lives of Options Outstanding (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Stock Options |  |  |  |
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |  |  |
Intrinsic value of options exercised | $ 602 | $ 186 | $ 251 |
2009 Plan |  |  |  |
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |  |  |
Share-based compensation arrangement by share-based payment award, equity instruments other than options, aggregate intrinsic value, outstanding | 60 |  |  |
Options exercisable intrinsic value | $ 60 |  |  |
Options exercisable weighted average contractual life (in years) | 1 month 6 days |  |  |
2009 Plan | Stock Options |  |  |  |
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |  |  |
Options outstanding (in shares) | 293,813 | 299,149 | 12,506 | 14,408
Exercise price (in dollars per share) | $ 181.85 | $ 178.71 | $ 129.35 | $ 124.05
Exercise Price $130.23 | 2009 Plan | Stock Options |  |  |  |
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |  |  |
Options outstanding (in shares) | 1,932 |  |  |
Exercise price (in dollars per share) | $ 130.23 |  |  |
Weighted Average Remaining Contractual Term (in years) | 1 month 6 days |  |  |
Exercise Price $180.32 | 2009 Plan | Stock Options |  |  |  |
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |  |  |
Options outstanding (in shares) | 282,088 |  |  |
Exercise price (in dollars per share) | $ 180.32 |  |  |
Weighted Average Remaining Contractual Term (in years) | 8 years 2 months 12 days |  |  |
Exercise Price $236.14 | 2009 Plan | Stock Options |  |  |  |
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |  |  |
Options outstanding (in shares) | 9,793 |  |  |
Exercise price (in dollars per share) | $ 236.14 |  |  |
Weighted Average Remaining Contractual Term (in years) | 9 years 1 month 6 days |  |  |

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- Definition Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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