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Stock-Based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, shares in Millions, $ 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]      
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