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Stock-Based Compensation - Summary of Additional Information Related to Stock Options (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]      
Fair value of options vested $ 1,966 $ 1,996 $ 2,509
Intrinsic value of options exercised 31,227 16,705 27,713
Intrinsic value of options outstanding $ 39,474 $ 40,692 $ 66,235
Weighted-average fair value per share of options granted (in dollars per share) $ 56.47 $ 41.34 $ 31.31