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Stock-based Compensation and Benefits - Summary of Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]    
Outstanding Options, beginning 717,088 695,960
Granted, Options 107,530  
Exercised, Options (60,710)  
Forfeited, Options (8,362)  
Outstanding Options, ending 755,546 717,088
Options exercisable at end of period, Options 574,435  
Options vested and expected to vest, Options 740,013  
Outstanding, Weighted average exercise price, beginning $ 29.79 $ 28.19
Granted, Weighted average exercise price 33.46  
Exercised, Weighted average exercise price 20.87  
Forfeited, Weighted average exercise price 36.90  
Outstanding, Weighted average exercised price, ending 30.95 $ 29.79
Options exercisable at end of period, Weighted average exercise price 29.15  
Options vested and expected to vest, Weighted average exercise price $ 30.84  
Outstanding, Weighted average remaining contractual term in years 5 years 9 months 14 days 5 years 11 months 23 days
Options exercisable at end of period, weighted average remaining contractual term in years 4 years 10 months 13 days  
Options vested and expected to vest, Weighted average remaining contractual term in years 5 years 8 months 19 days  
Outstanding, Aggregate intrinsic value, beginning $ 8,850  
Outstanding, Aggregate intrinsic value, ending 5,270 $ 8,850
Aggregate intrinsic Value of Options exercisable at end of period 4,881  
Options vested and expected to vest, Aggregate Intrinsic Value $ 5,229