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Employee Stock Plans - Schedule of Stock Award Activity (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Stock Option Activity |  |  |
Outstanding beginning balance (in shares) | 553,000 |  |
Granted (in shares) | 50,000 | 0 | 50,000
Exercised (in shares) | (453,000) |  |
Outstanding ending balance (in shares) | 150,000 | 553,000 |
Stock Option Weighted Average Exercise Price Per Share |  |  |
Outstanding begging balance (in dollars per share) | $ 21.03 |  |
Granted (in dollars per share) | 48.40 |  |
Exercised (in dollars per share) | 19.35 |  |
Outstanding ending balance (in dollars per share) | $ 35.22 | $ 21.03 |
Stock Option Activity, Additional Disclosures |  |  |
Options outstanding, Weighted average remaining contractual term | 3 years 9 months 7 days |  |
Options outstanding, Aggregate intrinsic value (in dollars) | $ 4.1 |  |
Options vested and exercisable, Number of Options (in shares) | 150,000 |  |
Options vested and exercisable, Weighted average exercise price per share (in dollars per share) | $ 35.22 |  |
Options vested and exercisable, Weighted average remaining contractual term | 3 years 9 months 7 days |  |
Options exercisable, Aggregate intrinsic value (in dollars) | $ 4.1 |  |

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