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Shareholders' Equity and Share-Based Compensation - Stock Option Information by Ranges of Exercise Prices (Details) - $ / shares | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Summary of options outstanding segregated by ranges of exercise prices |  |  |
Total outstanding options, options (in shares) | 1,402,514 | 1,194,352 |
Total outstanding options, weighted average option price per share (in usd per share) | $ 38.85 | $ 39.41 |
Total outstanding options, weighted average remaining term | 5 years 8 months 8 days |  |
Vested and exercisable options (in shares) | 942,532 | 766,444 |
Vested and exercisable options, weighted average option price per share (in usd per share) | $ 38.98 | $ 38.60 | $ 37.94
Vested and exercisable options, weighted average remaining term | 4 years 5 months 8 days |  |
Range One |  |  |
Summary of options outstanding segregated by ranges of exercise prices |  |  |
Total outstanding options, options (in shares) | 213,890 |  |
Total outstanding options, weighted average option price per share (in usd per share) | $ 30.94 |  |
Total outstanding options, weighted average remaining term | 2 years 3 months 21 days |  |
Vested and exercisable options (in shares) | 194,326 |  |
Vested and exercisable options, weighted average option price per share (in usd per share) | $ 30.82 |  |
Vested and exercisable options, weighted average remaining term | 1 year 7 months 6 days |  |
Range One | Minimum |  |  |
Summary of options outstanding segregated by ranges of exercise prices |  |  |
Total outstanding options, weighted average option price per share (in usd per share) | $ 28.88 |  |
Range One | Maximum |  |  |
Summary of options outstanding segregated by ranges of exercise prices |  |  |
Total outstanding options, weighted average option price per share (in usd per share) | $ 32.35 |  |
Range Two |  |  |
Summary of options outstanding segregated by ranges of exercise prices |  |  |
Total outstanding options, options (in shares) | 388,544 |  |
Total outstanding options, weighted average option price per share (in usd per share) | $ 37.51 |  |
Total outstanding options, weighted average remaining term | 7 years 1 month 6 days |  |
Vested and exercisable options (in shares) | 199,080 |  |
Vested and exercisable options, weighted average option price per share (in usd per share) | $ 38.96 |  |
Vested and exercisable options, weighted average remaining term | 5 years 1 month 13 days |  |
Range Two | Minimum |  |  |
Summary of options outstanding segregated by ranges of exercise prices |  |  |
Total outstanding options, weighted average option price per share (in usd per share) | $ 35.98 |  |
Range Two | Maximum |  |  |
Summary of options outstanding segregated by ranges of exercise prices |  |  |
Total outstanding options, weighted average option price per share (in usd per share) | $ 38.99 |  |
Range Three |  |  |
Summary of options outstanding segregated by ranges of exercise prices |  |  |
Total outstanding options, options (in shares) | 800,080 |  |
Total outstanding options, weighted average option price per share (in usd per share) | $ 41.62 |  |
Total outstanding options, weighted average remaining term | 5 years 10 months 28 days |  |
Vested and exercisable options (in shares) | 549,126 |  |
Vested and exercisable options, weighted average option price per share (in usd per share) | $ 41.87 |  |
Vested and exercisable options, weighted average remaining term | 5 years 2 months 8 days |  |
Range Three | Minimum |  |  |
Summary of options outstanding segregated by ranges of exercise prices |  |  |
Total outstanding options, weighted average option price per share (in usd per share) | $ 40.10 |  |
Range Three | Maximum |  |  |
Summary of options outstanding segregated by ranges of exercise prices |  |  |
Total outstanding options, weighted average option price per share (in usd per share) | $ 42.95 |  |

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