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Employee Plans - Additional Information (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Value of common shares that can be acquired by the employee and trustees under employees share purchase plan | $ 100,000 |  |
Number of common shares authorized after amendment | 7,000,000 |  |
Common Shares available for purchase under the ESPP | 2,418,463 |  |
Purchase price of common stock | 85.00% |  |
Maximum eligible compensation percentage for the defined contribution plan (the 401(k) Plan) | 4.00% |  |
Defined contribution plan vesting period | 5 years |  |
Defined contribution plan, compensation expense | $ 5,200,000 | $ 4,800,000 | $ 4,900,000
Highly Compensated Employees [Member] |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Maximum eligible compensation percentage for the defined contribution plan (the 401(k) Plan) | 3.00% |  |

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- Definition Description of the period of time over which an employee's right to contribution plus actual earnings is no longer contingent on satisfaction of a service condition. + References No definition available. + Details
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- Definition Represents the maximum amount of an employee's contribution to the defined contribution plan that is matched by the company. + References No definition available. + Details
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- Definition Represents the number of common shares available for purchase under the employee share purchase plan at the balance sheet date. + References No definition available. + Details
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- Definition Represents the maximum value of common shares an employee can acquire under the employee share purchase plan on an annual basis. + References No definition available. + Details
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- Definition Represents the number of shares authorized for purchase under the employee share purchase plan after the most recent amendment. + References No definition available. + Details
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- Definition Amount of cost for defined contribution plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 715 -SubTopic 70 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480794/715-70-50-1 + Details
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- Definition Discount rate from fair value on purchase date that participants pay for shares. + 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 Line items represent financial concepts included in a table. 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