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Stockholders' Equity - Schedule of Stock Options Outstanding (Details)
 12 Months Ended
Dec. 31, 2023
$ / shares
shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Options outstanding (in shares) | shares 1,128,864
Weighted-average remaining contractual life (in Years) 6 years 4 months 24 days
Weighted average exercise price (in dollars per share) $ 58.76
Options exercisable (in shares) | shares 746,803
Weighted average exercise price (in dollars per share) $ 72.11
$4.32-$18.00  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in dollars per share) 4.32
Exercise price, upper range limit (in dollars per share) $ 18.00
Options outstanding (in shares) | shares 283,472
Weighted-average remaining contractual life (in Years) 9 years 2 months 12 days
Weighted average exercise price (in dollars per share) $ 14.11
Options exercisable (in shares) | shares 66,918
Weighted average exercise price (in dollars per share) $ 14.45
$18.01-$39.00  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in dollars per share) 18.01
Exercise price, upper range limit (in dollars per share) $ 39.00
Options outstanding (in shares) | shares 264,108
Weighted-average remaining contractual life (in Years) 7 years 3 months 18 days
Weighted average exercise price (in dollars per share) $ 35.69
Options exercisable (in shares) | shares 141,600
Weighted average exercise price (in dollars per share) $ 34.99
$39.01-$52.00  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in dollars per share) 39.01
Exercise price, upper range limit (in dollars per share) $ 52.00
Options outstanding (in shares) | shares 156,505
Weighted-average remaining contractual life (in Years) 4 years 6 months
Weighted average exercise price (in dollars per share) $ 44.93
Options exercisable (in shares) | shares 156,271
Weighted average exercise price (in dollars per share) $ 44.93
$52.01-$90.00  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in dollars per share) 52.01
Exercise price, upper range limit (in dollars per share) $ 90.00
Options outstanding (in shares) | shares 129,681
Weighted-average remaining contractual life (in Years) 4 years 2 months 12 days
Weighted average exercise price (in dollars per share) $ 76.82
Options exercisable (in shares) | shares 121,124
Weighted average exercise price (in dollars per share) $ 77.75
$90.01-$130.00  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in dollars per share) 90.01
Exercise price, upper range limit (in dollars per share) $ 130.00
Options outstanding (in shares) | shares 136,716
Weighted-average remaining contractual life (in Years) 4 years 2 months 12 days
Weighted average exercise price (in dollars per share) $ 100.15
Options exercisable (in shares) | shares 131,640
Weighted average exercise price (in dollars per share) $ 100.00
$130.01-$233.28  
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, lower range limit (in dollars per share) 130.01
Exercise price, upper range limit (in dollars per share) $ 233.28
Options outstanding (in shares) | shares 158,382
Weighted-average remaining contractual life (in Years) 5 years 4 months 24 days
Weighted average exercise price (in dollars per share) $ 140.27
Options exercisable (in shares) | shares 129,250
Weighted average exercise price (in dollars per share) $ 141.78