Stock-Based Compensation - Stock Option Activity (Details) - $ / shares	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Options (#)
Beginning balance (in shares)	562,697	678,650	944,886
Granted (in shares)	42,215	56,430	53,223
Exercised (in shares)	(254,353)	(164,393)	(311,378)
Forfeited (in shares)	(3,737)	(7,990)	(8,081)
Ending balance (in shares)	346,822	562,697	678,650
Weighted Average Exercise Price ($/share)
Beginning Balance (in dollars per share)	$ 56.24	$ 44.76	$ 36.71
Granted (in dollars per share)	152.68	122.59	105.53
Exercised (in dollars per share)	38.75	29.86	30.10
Forfeited (in dollars per share)	129.43	92.48	68.62
Ending Balance (in dollars per share)	$ 80.02	$ 56.24	$ 44.76

The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Gross number of share options (or share units) granted during the period.

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Number of options outstanding, including both vested and non-vested options.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
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-Name Accounting Standards Codification
-Section 50
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-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Number of share options (or share units) exercised during the current period.

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Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
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