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Stockholders' Equity (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Equity, Class of Treasury Stock [Line Items] |  |  |
Treasury stock purchase plan | $ 100.0 |  |
Treasury stock purchase plan remaining available | $ 100.0 |  |
Share-based Payment Arrangement, Shares Withheld for Tax Withholding Obligation | 59,377 | 47,664 | 40,350
Payment, Tax Withholding, Share-based Payment Arrangement | $ 9.4 | $ 10.9 | $ 8.3
Treasury Stock, Common, Shares | 2,428 | 1,633 | 119

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