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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