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Share-based Compensation - Stock Options Narratives (Details) - USD ($) $ in Millions | 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 |  |  |
Recognition period for unrecognized share based compensation (in years) | 2 years 1 month 6 days |  |
Share based compensation not yet recognized | $ 15.4 |  |
Intrinsic value of shares exercised | 2.3 | $ 3.5 | $ 10.3
Fair value of shares vested | $ 2.1 | $ 2.3 | $ 2.6
Stock Options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Award vesting period | 4 years |  |
Contractual term | 10 years |  |
Recognition period for unrecognized share based compensation (in years) | 2 years 3 months 18 days |  |
Share based compensation not yet recognized | $ 2.3 |  |

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