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Stock-based Compensation - Options Plans (Details) - Stock Options
 3 Months Ended
Mar. 31, 2024
$ / shares
shares
Shares  
Beginning balance (in shares) | shares 1,337,972
Granted (in shares) | shares 67,003
Exercised (in shares) | shares (83,027)
Canceled (in shares) | shares (9,283)
Ending balance (in shares) | shares 1,312,665
Exercisable at end of period (in shares) | shares 1,108,192
Weighted Average Exercise Price  
Beginning balance (in USD per share) | $ / shares $ 223.43
Granted (in USD per share) | $ / shares 441.98
Exercised (in USD per share) | $ / shares 109.33
Canceled (in USD per share) | $ / shares 389.07
Ending balance (in USD per share) | $ / shares 267.47
Options exercisable at end of period (in USD per share) | $ / shares $ 241.34