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Stock-Based Compensation - Stock Option Activity (Details)
$ / shares in Units, $ in Millions
 3 Months Ended
Mar. 31, 2023
USD ($)
$ / shares
shares
Number of Shares Under Option  
Outstanding, beginning of period (in shares) | shares 539,575
Granted (in shares) | shares 72,291
Exercised (in shares) | shares (10,568)
Expired (in shares) | shares (472)
Forfeited (in shares) | shares (19,621)
Outstanding, end of period (in shares) | shares 581,205
Vested and expected to vest (in shares) | shares 561,092
Exercisable (in shares) | shares 437,962
Weighted Average Exercise Price Per Share  
Beginning of period (USD per share) | $ / shares $ 75.65
Granted (USD per share) | $ / shares 74.94
Exercised (USD per share) | $ / shares 55.36
Expired (USD per share) | $ / shares 72.28
Forfeited (USD per share) | $ / shares 79.38
End of period (USD per share) | $ / shares 75.80
Vested and expected to vest (USD per share) | $ / shares 75.88
Exercisable (USD per share) | $ / shares $ 76.59
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]  
Weighted average remaining contractual term (in years) 5 years 3 months 18 days
Weighted average remaining contractual term, vested and expected to vest (in years) 5 years 1 month 6 days
Weighted average remaining contractual term, exercisable (in years) 4 years
Options, outstanding, intrinsic value | $ $ 1.8
Options, vested and expected to vest, intrinsic value | $ 1.8
Options, vested and expected to vest, exercisable | $ $ 1.7