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Employee Plans - Summary of Information Regarding the Common Shares Issued Under the ESPP (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-Based Payment Arrangement, Additional Disclosure [Abstract]      
Shares issued 68,136 66,835 70,702
Issuance price ranges, Minimum $ 47.97 $ 52.33 $ 53.13
Issuance price ranges, Maximum $ 55.11 $ 72.51 $ 71.04
Issuance proceeds $ 3,517 $ 4,178 $ 4,265