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Stock Options - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions |  |  | 12 Months Ended
--- | --- | --- | ---
May 02, 2019 | May 07, 2015 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Maximum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Option term (years) |  |  | 10 years |  |
Qualified Stock Options |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Weighted average grant date fair value of options granted (in dollars per share) |  |  | $ 76.1 | $ 52.7 | $ 59.01
Stock option expense |  |  | $ 0.8 | $ 0.6 | $ 0.6
Total unrecognized compensation cost related to non-vested share-based compensation arrangements |  |  | $ 1.5 |  |
Period cost is expected to be recognized (years) |  |  | 5 years |  |
Restricted Stock Units (RSUs) |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Stock option expense |  |  | $ 6.6 | $ 4.9 | $ 5.4
Total unrecognized compensation cost related to non-vested share-based compensation arrangements |  |  | $ 8.5 |  |
Weighted average remaining contractual life (years) |  |  | 1 year 6 months 3 days | 1 year 4 months 28 days | 1 year 7 months 9 days
Restricted Stock Units (RSUs) | Granted after 2020 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Award vesting period (years) |  |  | 3 years |  |
Restricted Stock Units (RSUs) | Year One after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Award vesting period (years) |  |  | 3 years |  |
Performance Shares |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award |  |  | 50.00% |  |
Performance period |  |  | 3 years |  |
Option term (years) |  |  | 3 years |  |
Restricted Stock |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award |  |  | 50.00% |  |
2015 ISO Plan | Qualified Stock Options |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Shares of common stock reserved for options to be issued (in shares) |  | 400,000 |  |  |
2015 ISO Plan | Qualified Stock Options | Year One after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Award vesting period (years) |  | 1 year |  |  |
2015 ISO Plan | Qualified Stock Options | Year One after Grant Date | Maximum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award |  | 20.00% |  |  |
2015 ISO Plan | Qualified Stock Options | Year Two after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award |  | 20.00% |  |  |
2015 ISO Plan | Qualified Stock Options | Year Three after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award |  | 20.00% |  |  |
2015 ISO Plan | Qualified Stock Options | Year Four after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award |  | 20.00% |  |  |
2015 ISO Plan | Qualified Stock Options | Year Five after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award |  | 20.00% |  |  |
2009 Equity Incentive Plan | Non Qualified Options |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Shares of common stock reserved for options to be issued (in shares) | 500,000 |  |  |  |
2009 Equity Incentive Plan | Non Qualified Options | Year One after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Award vesting period (years) | 1 year |  |  |  |
2009 Equity Incentive Plan | Non Qualified Options | Year One after Grant Date | Maximum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award | 20.00% |  |  |  |
2009 Equity Incentive Plan | Non Qualified Options | Year Two after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award | 20.00% |  |  |  |
2009 Equity Incentive Plan | Non Qualified Options | Year Three after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award | 20.00% |  |  |  |
2009 Equity Incentive Plan | Non Qualified Options | Year Four after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award | 20.00% |  |  |  |
2009 Equity Incentive Plan | Non Qualified Options | Year Five after Grant Date |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Annual vesting percentage of award | 20.00% |  |  |  |

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