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Equity Compensation Plans - Stock-Based Compensation Expense (Details Textual) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-Based Payment Arrangement [Abstract] |  |  |
Stock-based compensation expense | $ 28,990 | $ 27,243 | $ 21,400
Total compensation cost related to unvested awards not yet recognized | $ 35,800 |  |
Stock based compensation expense period | 1 year 8 months 12 days |  |
Deferred income tax benefit related to stock-based compensation expense | $ 6,000 | 5,700 | 4,900
Income tax benefit realized for the tax deductions from stock-based compensation | $ 4,800 | $ 4,500 | $ 4,400

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