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Stock-based Compensation and Benefits - Summarizes Information about Outstanding Stock Options (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Options Outstanding, Number 755,546 717,088 695,960
Options Outstanding, Weighted Average Remaining Contractual Life in years 5 years 9 months 14 days 5 years 11 months 23 days  
Options Outstanding, Weighted Average Exercise Price $ 30.95 $ 29.79 $ 28.19
Options Vested, Number 740,013    
Options Vested, Weighted Average Exercise Price $ 30.84    
18.00 - 22.99      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Options Outstanding, Low Range of Exercise Price 18.00    
Options Outstanding, High Range of Exercise Price $ 22.99    
Options Outstanding, Number 99,955    
Options Outstanding, Weighted Average Remaining Contractual Life in years 1 year 9 months 18 days    
Options Outstanding, Weighted Average Exercise Price $ 19.37    
Options Vested, Number 99,955    
Options Vested, Weighted Average Exercise Price $ 19.37    
23.00 - 27.99      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Options Outstanding, Low Range of Exercise Price 23.00    
Options Outstanding, High Range of Exercise Price $ 27.99    
Options Outstanding, Number 159,313    
Options Outstanding, Weighted Average Remaining Contractual Life in years 6 years 2 months 26 days    
Options Outstanding, Weighted Average Exercise Price $ 23.14    
Options Vested, Number 159,313    
Options Vested, Weighted Average Exercise Price $ 23.14    
28.00 - 32.99      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Options Outstanding, Low Range of Exercise Price 28.00    
Options Outstanding, High Range of Exercise Price $ 32.99    
Options Outstanding, Number 82,991    
Options Outstanding, Weighted Average Remaining Contractual Life in years 4 years 2 months 15 days    
Options Outstanding, Weighted Average Exercise Price $ 32.60    
Options Vested, Number 82,991    
Options Vested, Weighted Average Exercise Price $ 32.60    
33.00 and 37.99      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Options Outstanding, Low Range of Exercise Price 33.00    
Options Outstanding, High Range of Exercise Price $ 37.99    
Options Outstanding, Number 261,106    
Options Outstanding, Weighted Average Remaining Contractual Life in years 6 years 5 months 4 days    
Options Outstanding, Weighted Average Exercise Price $ 33.86    
Options Vested, Number 156,108    
Options Vested, Weighted Average Exercise Price $ 34.12    
38.00 and above      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Options Outstanding, Low Range of Exercise Price 38.00    
Options Outstanding, Exercise Price $ 38.00    
Options Outstanding, Number 152,181    
Options Outstanding, Weighted Average Remaining Contractual Life in years 7 years 8 months 19 days    
Options Outstanding, Weighted Average Exercise Price $ 40.83    
Options Vested, Number 76,068    
Options Vested, Weighted Average Exercise Price $ 40.65