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Shareholders' Equity and Share-Based Compensation - Stock Option Activity (Details) - $ / shares | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Weighted Average Option Price per Share |  |  |
Weighted average option price per share, beginning balance (in usd per share) | $ 39.41 |  |
Weighted average option price per share, options granted (in usd per share) | 35.62 |  |
Weighted average option price per share, options vested (in usd per share) | 40.56 |  |
Weighted average option price per share, options exercised (in usd per share) | 28.88 |  |
Weighted average option price per share, options forfeited (in usd per share) | 0 |  |
Weighted average option price per share, options expired (in usd per share) | 0 |  |
Weighted average option price per share, ending balance (in usd per share) | $ 38.85 | $ 39.41 |
Outstanding |  |  |
Options outstanding, beginning balance (in shares) | 1,194,352 |  |
Options outstanding, granted (in shares) | 209,028 | 162,224 | 183,272
Options outstanding, vested (in shares) | 0 |  |
Options outstanding, exercised (in shares) | (866) |  |
Options outstanding, forfeited (in shares) | 0 |  |
Options outstanding, expired (in shares) | 0 |  |
Options outstanding, ending balance (in shares) | 1,402,514 | 1,194,352 |
Vested and Exercisable |  |  |
Options vested and exercisable, beginning balance (in shares) | 766,444 |  |
Options vested and exercisable, granted (in shares) | 0 |  |
Options vested and exercisable, vested (in shares) | 176,954 |  |
Options vested and exercisable, exercisable (in shares) | (866) |  |
Options vested and exercisable, forfeited (in shares) | 0 |  |
Options vested and exercisable, expired (in shares) | 0 |  |
Options vested and exercisable, ending balance (in shares) | 942,532 | 766,444 |
Minimum |  |  |
Range of Option Prices per Share |  |  |
Range of option prices per share, beginning balance (in usd per share) | $ 28.88 |  |
Range of option prices per share, granted (in usd per share) | 32.13 |  |
Range of option prices per share, vested (in usd per share) | 38.99 |  |
Range of option prices per share, exercised (in usd per share) | 28.88 |  |
Range of option prices per share, ending balance (in usd per share) | 28.88 | $ 28.88 |
Maximum |  |  |
Range of Option Prices per Share |  |  |
Range of option prices per share, beginning balance (in usd per share) | 42.95 |  |
Range of option prices per share, granted (in usd per share) | 35.98 |  |
Range of option prices per share, vested (in usd per share) | 41.83 |  |
Range of option prices per share, exercised (in usd per share) | 28.88 |  |
Range of option prices per share, ending balance (in usd per share) | $ 42.95 | $ 42.95 |

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- Definition Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(04) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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