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Employee Benefit Plans - Employee Savings Plans (Details) - Employee Savings Plan - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Defined Contribution Plan Disclosure [Line Items]      
Defined contribution, maximum employee contribution, percentage of eligible compensation 50.00%    
Defined contribution, maximum annual contributions per employee, percent 4.00% 4.00% 4.00%
Defined contribution, maximum annual contributions per employee $ 13,200 $ 12,200 $ 11,600
Defined contribution, total expenses $ 61,000,000 $ 58,000,000 $ 54,000,000