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Stock-Based Compensation Expense - Stock Options Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Intrinsic value, exercised in the period	$ 52.7	$ 31.7	$ 86.5
Unrecognized compensation cost, period for recognition	1 year 10 months 24 days
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period	4 years
Award expiration period	10 years
Dividend yield	0.00%	0.00%	0.00%
Unrecognized compensation cost	$ 7.8
Unrecognized compensation cost, period for recognition	2 years 8 months 12 days

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