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Stockholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2023
Stockholders' Equity [Abstract] |
Stock Option and Restricted Stock Unit Activity | The following table summarizes stock option and restricted stock unit activity for the Plans:
|  |  |  |  | Stock Options |  |  | Restricted Stock Units |
|  | Shares Available for Grant |  |  | Shares |  |  | Weighted Average Exercise Price per Share ($) |  |  | Shares |  |  | Weighted Average Exercise Price per Share ($) |
Balance January 1, 2021 |  |  | 1,532,246 |  |  |  | 1,363,366 |  |  | $ | 57.29 |  |  |  | 201,985 |  |  | $ | 58.07 |
Granted |  |  | (358,078 | ) |  |  | 255,769 |  |  |  | 66.00 |  |  |  | 102,309 |  |  |  | 66.20 |
Exercised/vested |  |  | — |  |  |  | (251,195 | ) |  |  | 51.12 |  |  |  | (51,497 | ) |  |  | 60.40 |
Canceled |  |  | 94,602 |  |  |  | (37,938 | ) |  |  | 64.92 |  |  |  | (56,664 | ) |  |  | 60.98 |
Balance December 31, 2021 |  |  | 1,268,770 |  |  |  | 1,330,002 |  |  |  | 59.91 |  |  |  | 196,133 |  |  |  | 60.87 |
Granted |  |  | (341,187 | ) |  |  | 242,723 |  |  |  | 69.81 |  |  |  | 98,464 |  |  |  | 69.70 |
Exercised/vested |  |  | — |  |  |  | (121,992 | ) |  |  | 46.81 |  |  |  | (52,441 | ) |  |  | 58.92 |
Canceled |  |  | 152,877 |  |  |  | (87,315 | ) |  |  | 69.49 |  |  |  | (65,562 | ) |  |  | 61.00 |
Balance December 31, 2022 |  |  | 1,080,460 |  |  |  | 1,363,418 |  |  |  | 62.22 |  |  |  | 176,594 |  |  |  | 66.32 |
Granted |  |  | (358,463 | ) |  |  | 255,620 |  |  |  | 66.08 |  |  |  | 102,843 |  |  |  | 66.01 |
Exercised/vested |  |  | — |  |  |  | (91,604 | ) |  |  | 56.82 |  |  |  | (46,141 | ) |  |  | 64.25 |
Canceled |  |  | 58,918 |  |  |  | (12,972 | ) |  |  | 67.54 |  |  |  | (45,946 | ) |  |  | 64.33 |
Balance December 31, 2023 |  |  | 780,915 |  |  |  | 1,514,462 |  |  | $ | 63.15 |  |  |  | 187,350 |  |  | $ | 67.15 |

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