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Earnings Per Share - Anti-dilutive Securities (Details) - shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Employee Stock Option [Member]      
Anti-dilutive securities      
Dilutive securities excluded from the calculation of diluted earnings per share (in shares) 259,405 1,683,805 1,202,403
Restricted stock units      
Anti-dilutive securities      
Dilutive securities excluded from the calculation of diluted earnings per share (in shares) 31,050 2,047,571 22,605
Performance share units      
Anti-dilutive securities      
Dilutive securities excluded from the calculation of diluted earnings per share (in shares) 308,680 447,770 242,714
Employee stock purchase plan.      
Anti-dilutive securities      
Dilutive securities excluded from the calculation of diluted earnings per share (in shares) 18,591    
Convertible senior notes      
Anti-dilutive securities      
Dilutive securities excluded from the calculation of diluted earnings per share (in shares)   4,925,134