Stockholders' Equity (Tables)

12 Months Ended

Dec. 31, 2023

Stockholders' Equity [Abstract]

Stock Option and Restricted Stock Unit Activity

The following table summarizes stock option and restricted stock unit activity for the Plans:

				Stock Options					Restricted Stock Units
	Shares Available for Grant			Shares			Weighted Average Exercise Price per Share ($)		Shares			Weighted Average Exercise Price per Share ($)
Balance January 1, 2021		1,532,246			1,363,366		$	57.29		201,985		$	58.07
Granted		(358,078	)		255,769			66.00		102,309			66.20
Exercised/vested		—			(251,195	)		51.12		(51,497	)		60.40
Canceled		94,602			(37,938	)		64.92		(56,664	)		60.98
Balance December 31, 2021		1,268,770			1,330,002			59.91		196,133			60.87
Granted		(341,187	)		242,723			69.81		98,464			69.70
Exercised/vested		—			(121,992	)		46.81		(52,441	)		58.92
Canceled		152,877			(87,315	)		69.49		(65,562	)		61.00
Balance December 31, 2022		1,080,460			1,363,418			62.22		176,594			66.32
Granted		(358,463	)		255,620			66.08		102,843			66.01
Exercised/vested		—			(91,604	)		56.82		(46,141	)		64.25
Canceled		58,918			(12,972	)		67.54		(45,946	)		64.33
Balance December 31, 2023		780,915			1,514,462		$	63.15		187,350		$	67.15