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Stock-Based Compensation - Narrative (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended |  |  |
--- | --- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | May 16, 2019 | Apr. 17, 2019 | Nov. 09, 2009
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  |  | 2,526,858 | 146,516 | 11,815,748
Common stock awards reserved (in shares) |  |  |  |  | 145,202 |
Compensation expense | $ 50.3 | $ 58.7 | $ 39.0 |  |  |
Unrecognized compensation expense | $ 58.7 |  |  |  |  |
Unrecognized compensation expense, period of recognition | 1 year 7 months 6 days |  |  |  |  |
Weighted average grant date fair value for options (in dollars per share) |  | $ 35.33 | $ 30.32 |  |  |
Restricted Stock Units |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Weighted average grant date fair value of performance shares granted (in dollars per share) | 164.57 | 165.28 | 129.40 |  |  |
Performance Shares |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Weighted average grant date fair value of performance shares granted (in dollars per share) | $ 196.83 | $ 188.11 | $ 147.53 |  |  |
Minimum | Restricted Stock Units |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting period | 1 year |  |  |  |  |
Minimum | Performance Shares |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting period | 1 year |  |  |  |  |
Maximum | Restricted Stock Units |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting period | 3 years |  |  |  |  |
Maximum | Performance Shares |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting period | 3 years |  |  |  |  |

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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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 -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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