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Stock-based Payment Arrangements - Summary of Stock Option Activity (Details) - $ / shares | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Number of Options |  |  |
Outstanding, Number of Option, Beginning Balance (in shares) | 181,383 | 213,857 | 204,540
Granted, Number of Options (in shares) | 0 | 3,800 | 37,970
Exercised, Number of Options (in shares) | (20,816) | (35,794) | (19,941)
Forfeited, Number of Options (in shares) | (3,880) | (480) | (8,712)
Outstanding, Number of Option, Ending Balance (in shares) | 156,687 | 181,383 | 213,857
Weighted-Average Exercise Price |  |  |
Outstanding, Weighted Average Exercise Price, Beginning Balance (in usd per share) | $ 32.64 | $ 30.73 | $ 29.17
Granted, Weighted-Average Exercise Price (in usd per share) | 0 | 41.15 | 36.84
Exercised, Weighted-Average Exercise Price (in usd per share) | 26.31 | 22.00 | 24.72
Forfeited, Weighted-Average Exercise Price (in usd per share) | 34.33 | 45.12 | 34.35
Outstanding, Weighted Average Exercise Price, Ending Balance (in usd per share) | 33.43 | 32.64 | 30.73
Weighted-Average Grant Date Fair Value |  |  |
Outstanding, Weighted-Average Grant Date Fair Value, Beginning Balance (in usd per share) | 6.95 | 6.69 | 6.02
Granted, Weighted-Average Grant Date Fair Value (in usd per share) | 0 | 11.72 | 9.58
Exercised, Weighted-Average Grant Date Fair Value (in usd per share) | 5.58 | 5.85 | 5.20
Forfeited, Weighted-Average Grant Date Fair Value (in usd per share) | 7.61 | 10.43 | 6.98
Outstanding, Weighted-Average Grant Date Fair Value, Ending Balance (in usd per share) | $ 7.11 | $ 6.95 | $ 6.69
Exercisable, Number of Options (in shares) | 117,870 | 116,239 | 125,601
Exercisable, Weighted Average Exercise Price (in usd per share) | $ 33.54 | $ 32.03 | $ 28.66
Exercisable, Weighted-Average Grant Date Fair Value (in usd per share) | $ 6.97 | $ 6.64 | $ 6.28
Outstanding, Weighted Average Remaining Contractual Term | 4 years 10 months 24 days | 5 years 8 months 12 days | 6 years
Exercisable, Weighted Average Remaining Contractual Term | 4 years 3 months 18 days | 4 years 8 months 12 days | 4 years 6 months

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- Definition Share based compensation arrangement by share based payment award options exercisable weighted average grant date fair value. + References No definition available. + Details
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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option 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)(1)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option 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)(1)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option 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)(1)(iv)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Gross number of share options (or share units) granted during the 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)(1)(iv)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Number of options outstanding, including both vested and non-vested 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)(1)(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)(1)(ii) -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 can acquire the shares reserved for issuance under the stock option 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)(1)(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)(1)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average price at which option holders acquired shares when converting their stock options into shares. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(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 have acquired the underlying shares with respect to stock options that were terminated. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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