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Stock-Based Compensation - Stock Option Activity (Details)
$ / shares in Units, $ in Millions
 9 Months Ended
Sep. 30, 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 (69,443)
Expired (in shares) | shares (55,879)
Forfeited (in shares) | shares (20,876)
Outstanding, end of period (in shares) | shares 465,668
Vested and expected to vest (in shares) | shares 449,236
Exercisable (in shares) | shares 325,063
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 54.90
Expired (USD per share) | $ / shares 82.17
Forfeited (USD per share) | $ / shares 79.11
End of period (USD per share) | $ / shares 77.69
Vested and expected to vest (USD per share) | $ / shares 77.84
Exercisable (USD per share) | $ / shares $ 79.62
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]  
Weighted average remaining contractual term (in years) 5 years 11 months 26 days
Weighted average remaining contractual term, vested and expected to vest (in years) 5 years 10 months 24 days
Weighted average remaining contractual term, exercisable (in years) 4 years 9 months 18 days
Options, outstanding, intrinsic value | $ $ 0.0
Options, vested and expected to vest, intrinsic value | $ 0.0
Options, vested and expected to vest, exercisable | $ $ 0.0