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Stock-Based Compensation - Narrative (Details) - USD ($) $ / shares in Units, shares in Millions, $ 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 [Line Items] |  |  |
Shares available for grant (in shares) | 12.7 |  |
Unrecognized stock-based compensation expense | $ 52.0 |  |
Unrecognized stock-based compensation, expected to be recognized, weighted average period | 2 years 4 months 24 days |  |
Employee Stock Purchase Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Common stock reserved for future issuance (in shares) | 1.7 |  |
Stock options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period | 4 years |  |
Stock options contractual term range | 7 years |  |
Outstanding and exercisable options (in shares) | 0.3 |  |
Weighted average exercise price (in dollars per share) | $ 67.07 |  |
Weighted average remaining contractual life | 3 years 1 month 6 days |  |
PSUs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period | 3 years | 3 years | 3 years
Shares issued (in shares) (less than) | 0.2 |  |
RSUs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period | 4 years |  |
RSAs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period | 1 year |  |
DSUs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period | 1 year |  |
Award receipt delay | 10 years |  |
PSUs, RSUs, RSAs and DSUs | Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vested at period end (in shares) | 0.1 |  |

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