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Stock Options - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions			12 Months Ended
	May 02, 2019	May 07, 2015	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Option term (years)			10 years
Qualified Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted average grant date fair value of options granted (in dollars per share)			$ 76.1	$ 52.7	$ 59.01
Stock option expense			$ 0.8	$ 0.6	$ 0.6
Total unrecognized compensation cost related to non-vested share-based compensation arrangements			$ 1.5
Period cost is expected to be recognized (years)			5 years
Restricted Stock Units (RSUs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock option expense			$ 6.6	$ 4.9	$ 5.4
Total unrecognized compensation cost related to non-vested share-based compensation arrangements			$ 8.5
Weighted average remaining contractual life (years)			1 year 6 months 3 days	1 year 4 months 28 days	1 year 7 months 9 days
Restricted Stock Units (RSUs) \| Granted after 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period (years)			3 years
Restricted Stock Units (RSUs) \| Year One after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period (years)			3 years
Performance Shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award			50.00%
Performance period			3 years
Option term (years)			3 years
Restricted Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award			50.00%
2015 ISO Plan \| Qualified Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares of common stock reserved for options to be issued (in shares)		400,000
2015 ISO Plan \| Qualified Stock Options \| Year One after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period (years)		1 year
2015 ISO Plan \| Qualified Stock Options \| Year One after Grant Date \| Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award		20.00%
2015 ISO Plan \| Qualified Stock Options \| Year Two after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award		20.00%
2015 ISO Plan \| Qualified Stock Options \| Year Three after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award		20.00%
2015 ISO Plan \| Qualified Stock Options \| Year Four after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award		20.00%
2015 ISO Plan \| Qualified Stock Options \| Year Five after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award		20.00%
2009 Equity Incentive Plan \| Non Qualified Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares of common stock reserved for options to be issued (in shares)	500,000
2009 Equity Incentive Plan \| Non Qualified Options \| Year One after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period (years)	1 year
2009 Equity Incentive Plan \| Non Qualified Options \| Year One after Grant Date \| Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award	20.00%
2009 Equity Incentive Plan \| Non Qualified Options \| Year Two after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award	20.00%
2009 Equity Incentive Plan \| Non Qualified Options \| Year Three after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award	20.00%
2009 Equity Incentive Plan \| Non Qualified Options \| Year Four after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award	20.00%
2009 Equity Incentive Plan \| Non Qualified Options \| Year Five after Grant Date
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual vesting percentage of award	20.00%