Stock-based Compensation Expense - Fixed-Price Stock Options (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Shares
Outstanding Shares, Beginning Balance (in shares)	384,936
Granted (in shares)	51,316	57,348	62,479
Exercised (in shares)	(3,124)
Forfeited (in shares)	(5,984)
Outstanding Shares, Ending Balance (in shares)	427,144	384,936
Exercisable, Ending Balance (in shares)	314,745
Weighted-Average Exercise Price
Outstanding Weighted-Average Exercise Price, Beginning Balance (in dollars per share)	$ 114.24
Granted (in dollars per share)	249.52
Exercised (in dollars per share)	59.41
Forfeited (in dollars per share)	207.12
Outstanding Weighted-Average Exercise (in dollars per share) Price, Ending Balance	129.59	$ 114.24
Exercisable Weighted-Average Exercise Price, Ending Balance (in dollars per share)	$ 102.14
Weighted-Average Remaining Contractual Term (Years)
Weighted-Averaged Remaining Contractual Term, Beginning Balance	5 years 9 months 18 days	6 years 3 months 18 days
Weighted-Averaged Remaining Contractual Term, Ending Balance	5 years 9 months 18 days	6 years 3 months 18 days
Exercisable Weighted-Average Remaining Contractual Term, Ending Balance	4 years 10 months 24 days
Aggregate Intrinsic Value
Outstanding Aggregate Intrinsic Value, Beginning Balance	$ 39,501
Outstanding Aggregate Intrinsic Value, Ending Balance	14,891	$ 39,501
Exercisable Aggregate Intrinsic Value, Ending Balance	$ 14,891