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Employee Stock Plans - Additional Information (Details) - USD ($) | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | May 10, 2023 | May 09, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Price an employee pays for shares as percentage of fair market value | 85.00% |  |  |  |
Holding period of stock | 1 year |  |  |  |
Stock options granted (in shares) | 50,000 | 0 | 50,000 |  |
Fair value of stock options granted (in dollars per share) | $ 15.35 |  | $ 8.10 |  |
Stock Option |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Percentage of incremental vesting schedule | 25.00% |  |  |  |
Incremental vesting schedule period | 4 years |  |  |  |
Options awarded under the plans vesting period | 4 years |  |  |  |
Stock options expiry date | 6 years |  |  |  |
Weighted-average grant-date fair value of stock options granted | $ 800,000 |  | $ 400,000 |  |
Aggregate intrinsic value of stock options exercised | 15,000,000 | $ 19,100,000 | 13,600,000 |  |
Restricted stock units and awards |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Unrecognized compensation cost for restricted stock awards | $ 5,200,000 |  |  |  |
Compensation cost for non-vested stock options weighted average period | 8 months 19 days |  |  |  |
Total fair value of shares vested during period | $ 5,100,000 | 5,600,000 | 4,900,000 |  |
Market value of shares awarded during period | $ 5,300,000 | $ 5,000,000 | $ 5,000,000 |  |
Performance share units |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Options awarded under the plans vesting period | 3 years |  |  |  |
Share-based compensation arrangement by share-based payment award, remaining contractual terms | 3 years |  |  |  |
Achievement of an earnings per share target | 70.00% |  |  |  |
Achievement of total growth in revenue | 30.00% |  |  |  |
2029 Plan |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Additional shares authorized for issuance (in shares) |  |  |  | 1,500,000 |
2019 Plan |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Share available for future grant (in shares) |  |  |  |  | 4,600,000
2014 Stock Incentive Plan |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Share available for future grant (in shares) | 2,900,000 |  |  |  |
Minimum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Options awarded under the plans vesting period | 3 years |  |  |  |
Minimum | Restricted stock units and awards |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Options awarded under the plans vesting period | 1 year |  |  |  |
Maximum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
ESPP allows qualified employees to purchase shares of common stock | $ 25,000 |  |  |  |
Shares purchased under ESPP | 2,000,000 |  |  |  |
Options awarded under the plans vesting period | 4 years |  |  |  |
Maximum | Restricted stock units and awards |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Options awarded under the plans vesting period | 4 years |  |  |  |
Maximum | Performance share units |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Percentage of initial grant | 200.00% |  |  |  |

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