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Stock-Based Compensation Expense - Employee Stock Purchase Plan Narrative (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Unrecognized compensation cost, period for recognition | 1 year 10 months 24 days |  |
ESPP |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award offering period | 6 months |  |
Weighted-average grant-date fair value per share (in dollars per share) | $ 60.67 | $ 74.50 | $ 60.65
Unrecognized compensation cost | $ 1,800,000 |  |
Unrecognized compensation cost, period for recognition | 4 months 24 days |  |
ESPP | ESPP |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of shares authorized (in shares) | 880,000 |  |
Annual maximum shares per employee (in shares) | 800 |  |
Annual maximum common stock value purchase per employee | $ 25,000 |  |
Percentage of employees' compensation deduction for share purchase | 10.00% |  |
Purchase price percentage of fair market value | 85.00% |  |
Issuance of shares for employee stock purchase plan (in shares) | 55,439 | 52,724 | 36,103
Shares available for issuance (in shares) | 364,496 |  |

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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