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Stock-Based Compensation - Significant Option Groups Outstanding and Related Weighted Average Exercise Price and Life Information (Details) - $ / shares shares in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Options Outstanding |  |  |  |
Number outstanding (in shares) | 901 | 782 | 800 | 774
Weighted-average remaining contractual term (in years) | 3 years 8 months 1 day | 3 years 5 months 12 days | 3 years 1 month 24 days |
Weighted average exercise price (in dollars per share) | $ 38.78 | $ 44.16 | $ 45.55 | $ 43.01
Options Exercisable |  |  |  |
Number exercisable (in shares) | 620 | 600 | 656 |
Weighted-average exercise price (in dollars per share) | $ 44.06 | $ 45.77 | $ 44.08 |
Exercise price range 1 |  |  |  |
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |  |  |
Range of exercise prices, lower range limit (in dollars per share) | 24.77 |  |  |
Range of exercise prices, upper range limit (in dollars per share) | $ 34.56 |  |  |
Options Outstanding |  |  |  |
Number outstanding (in shares) | 503 |  |  |
Weighted-average remaining contractual term (in years) | 4 years 9 months 14 days |  |  |
Weighted average exercise price (in dollars per share) | $ 27.77 |  |  |
Options Exercisable |  |  |  |
Number exercisable (in shares) | 227 |  |  |
Weighted-average exercise price (in dollars per share) | $ 29.35 |  |  |
Exercise price range 2 |  |  |  |
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |  |  |
Range of exercise prices, lower range limit (in dollars per share) | 44.95 |  |  |
Range of exercise prices, upper range limit (in dollars per share) | $ 46.17 |  |  |
Options Outstanding |  |  |  |
Number outstanding (in shares) | 207 |  |  |
Weighted-average remaining contractual term (in years) | 2 years 7 months 6 days |  |  |
Weighted average exercise price (in dollars per share) | $ 45.59 |  |  |
Options Exercisable |  |  |  |
Number exercisable (in shares) | 207 |  |  |
Weighted-average exercise price (in dollars per share) | $ 45.59 |  |  |
Exercise price range 3 |  |  |  |
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |  |  |
Range of exercise prices, lower range limit (in dollars per share) | 52.85 |  |  |
Range of exercise prices, upper range limit (in dollars per share) | $ 62.70 |  |  |
Options Outstanding |  |  |  |
Number outstanding (in shares) | 191 |  |  |
Weighted-average remaining contractual term (in years) | 2 years 4 months 17 days |  |  |
Weighted average exercise price (in dollars per share) | $ 60.31 |  |  |
Options Exercisable |  |  |  |
Number exercisable (in shares) | 186 |  |  |
Weighted-average exercise price (in dollars per share) | $ 60.34 |  |  |

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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 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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