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Stock-Based Compensation - Schedule of Activity of Stock Options (Details) - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Shares      
Beginning balance (in shares) 2,500 5,789 5,789
Issued (in shares) 0 0 0
Exercised (in shares) 0 (3,289) 0
Forfeited (in shares) 0 0 0
Ending balance (in shares) 2,500 2,500 5,789
Weighted- Average Exercise  Price      
Beginning balance (in dollars per share) $ 47.95 $ 36.96 $ 36.96
Issued (in dollars per share) 0 0 0
Exercised (in dollars per share) 0 28.60 0
Forfeited (in dollars per share) 0 0 0
Ending balance (in dollars per share) $ 47.95 $ 47.95 $ 36.96
Stock options exercisable (in shares) 2,500 1,666 4,122
Weighted average exercise price (in dollars per share) $ 47.95 $ 47.95 $ 32.51