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Defined Contribution Plan (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Retirement Benefits [Abstract]      
Matching percentage of company of every dollar contributed 100.00%    
Maximum annual contribution 3.00%    
Additional matching contribution 50.00%    
Additional percentage of compensation subject to matching contribution 2.00%    
Maximum company match 4.00%    
Company contributions $ 7.3 $ 7.1 $ 6.1