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Equity Incentive Plans - Options by Exercise Price (Details)
 12 Months Ended
Dec. 31, 2023
$ / shares
shares
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]  
Options outstanding, number outstanding (in shares) | shares 2,038,000
Options outstanding, Wtd. Avg. remaining contractual life 5 years 5 months 23 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share) $ 16.94
Options exercisable, Number exercisable (in shares) | shares 1,349
Options exercisable Wtd. Avg. Remaining Contractual Life 4 years 1 month 9 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share) $ 21.30
0-18.23  
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]  
Lower range limit, Exercise price (in dollars per share) 0
Upper range limit, Exercise price (in dollars per share) $ 18.23
Options outstanding, number outstanding (in shares) | shares 1,058,000
Options outstanding, Wtd. Avg. remaining contractual life 7 years 7 months 13 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share) $ 9.42
Options exercisable, Number exercisable (in shares) | shares 369
Options exercisable Wtd. Avg. Remaining Contractual Life 6 years 7 months 6 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share) $ 11.33
18.24-22.26  
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]  
Lower range limit, Exercise price (in dollars per share) 18.24
Upper range limit, Exercise price (in dollars per share) $ 22.26
Options outstanding, number outstanding (in shares) | shares 418,000
Options outstanding, Wtd. Avg. remaining contractual life 3 years 10 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share) $ 20.94
Options exercisable, Number exercisable (in shares) | shares 418
Options exercisable Wtd. Avg. Remaining Contractual Life 3 years 10 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share) $ 20.94
22.27-29.39  
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]  
Lower range limit, Exercise price (in dollars per share) 22.27
Upper range limit, Exercise price (in dollars per share) $ 29.39
Options outstanding, number outstanding (in shares) | shares 338,000
Options outstanding, Wtd. Avg. remaining contractual life 3 years 4 months 6 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share) $ 25.35
Options exercisable, Number exercisable (in shares) | shares 338
Options exercisable Wtd. Avg. Remaining Contractual Life 3 years 4 months 6 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share) $ 25.35
29.40-45.00  
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]  
Lower range limit, Exercise price (in dollars per share) 29.4
Upper range limit, Exercise price (in dollars per share) $ 45
Options outstanding, number outstanding (in shares) | shares 224,000
Options outstanding, Wtd. Avg. remaining contractual life 3 years 1 month 24 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share) $ 32.27
Options exercisable, Number exercisable (in shares) | shares 224
Options exercisable Wtd. Avg. Remaining Contractual Life 3 years 1 month 24 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share) $ 32.27