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Share-based Compensation - Stock Options - Additional Information (Details) - Stock Options - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based compensation Expense      
Weighted average grant-date fair value of stock options granted (in dollars per share) $ 13.74 $ 12.62 $ 10.09
Aggregate intrinsic value of stock options exercised $ 6,000,000 $ 11,600,000 $ 8,300,000
Stock options expected to vest (in shares) 6,900,000    
Weighted average exercise price (in dollars per share) $ 24.46    
Weighted average contractual remaining life 8 years    
Aggregate intrinsic value of stock options exercisable $ 29,400,000    
Weighted average remaining contractual term of stock options exercisable 4 years 6 months    
Unrecognized share-based compensation expense $ 33,000,000    
Weighted average period for unrecognized share-based compensation expense expected to be recognized 1 year 10 months 24 days    
Outstanding stock option 18,139,903 17,596,961  
Maximum      
Share-based compensation Expense      
Aggregate intrinsic value $ 24,600,000