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Share-Based Compensation - Restricted Stock and Restricted Stock Unit Award Activity (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Shares |  |  |
Adjustment due to Consensus Separation (in shares) |  |  | 35,749
Weighted-Average Grant-Date Fair Value |  |  |
Adjustment due to consensus separation (in dollars per share) |  |  | $ 68.25
Number of Shares |  |  |
Adjustment due to Consensus Separation (in shares) |  |  | 35,749
Restricted Stock |  |  |
Shares |  |  |
Beginning balance (in shares) | 311,281 | 383,963 | 820,566
Granted (in shares) | 0 | 0 | 0
Vested (in shares) | (52,060) | (67,762) | (435,529)
Canceled (in shares) | (322) | (4,920) | (33,194)
Adjustment due to Consensus Separation (in shares) |  |  | 32,120
Ending balance (in shares) | 258,899 | 311,281 | 383,963
Weighted-Average Grant-Date Fair Value |  |  |
Beginning balance (in dollars per share) | $ 59.90 | $ 62.66 | $ 62.66
Granted (in dollars per share) | 0 | 0 | 0
Vested (in dollars per share) | 72.29 | 80.64 | 60.52
Canceled (in dollars per share) | 77.75 | 84.77 | 83.23
Adjustment due to consensus separation (in dollars per share) |  |  | 74.62
Ending balance (in dollars per share) | $ 48.76 | $ 59.90 | $ 62.66
Number of Shares |  |  |
Granted (in shares) | 0 | 0 | 0
Vested (in shares) | (52,060) | (67,762) | (435,529)
Canceled (in shares) | (322) | (4,920) | (33,194)
Adjustment due to Consensus Separation (in shares) |  |  | 32,120
Restricted Stock Units (RSUs) |  |  |
Shares |  |  |
Granted (in shares) | 473,155 | 254,215 | 319,345
Vested (in shares) | (111,185) | (115,523) | (124,761)
Canceled (in shares) | (49,127) | (35,081) | (60,201)
Adjustment due to Consensus Separation (in shares) |  |  | 16,576
Number of Shares |  |  |
Beginning balance (in shares) | 464,354 | 360,743 | 209,784
Granted (in shares) | 473,155 | 254,215 | 319,345
Vested (in shares) | (111,185) | (115,523) | (124,761)
Canceled (in shares) | (49,127) | (35,081) | (60,201)
Adjustment due to Consensus Separation (in shares) |  |  | 16,576
Ending balance (in shares) | 777,197 | 464,354 | 360,743
Vested and expected to vest (in shares) | 721,572 |  |
Aggregate Intrinsic Value |  |  |
Outstanding at December 31, 2023 | $ 52,219,866 |  |
Vested and expected to vest at December 31, 2023 | $ 48,482,422 |  |

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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(02) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(02) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average price at which grantees could acquire or could have acquired the underlying shares with respect to any other type of change in shares reserved for issuance. + References No definition available. + Details
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