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Stock-Based Compensation Plans - Exercise Prices and Contractual Lives of Options Outstanding (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Stock Options        
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]        
Intrinsic value of options exercised $ 602 $ 186 $ 251  
2009 Plan        
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]        
Share-based compensation arrangement by share-based payment award, equity instruments other than options, aggregate intrinsic value, outstanding 60      
Options exercisable intrinsic value $ 60      
Options exercisable weighted average contractual life (in years) 1 month 6 days      
2009 Plan | Stock Options        
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]        
Options outstanding (in shares) 293,813 299,149 12,506 14,408
Exercise price (in dollars per share) $ 181.85 $ 178.71 $ 129.35 $ 124.05
Exercise Price $130.23 | 2009 Plan | Stock Options        
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]        
Options outstanding (in shares) 1,932      
Exercise price (in dollars per share) $ 130.23      
Weighted Average Remaining Contractual Term (in years) 1 month 6 days      
Exercise Price $180.32 | 2009 Plan | Stock Options        
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]        
Options outstanding (in shares) 282,088      
Exercise price (in dollars per share) $ 180.32      
Weighted Average Remaining Contractual Term (in years) 8 years 2 months 12 days      
Exercise Price $236.14 | 2009 Plan | Stock Options        
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]        
Options outstanding (in shares) 9,793      
Exercise price (in dollars per share) $ 236.14      
Weighted Average Remaining Contractual Term (in years) 9 years 1 month 6 days