Stock-Based Compensation - Stock Options Narrative (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]
Options exercised (in shares)	214,619	397,822	318,662
Aggregate intrinsic value	$ 12.9	$ 13.1	$ 1.6
Unrecognized compensation expense	$ 13.2
Weighted-average remaining period for recognition of unrecognized compensation costs	2 years

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

+ References

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Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options.

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- Definition

Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

+ References

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Number of share options (or share units) exercised during the current period.

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