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Stock Incentive Plans - Restricted Stock Award Activity (Details) - Restricted Stock and RSUs - 2016 Equity Compensation Plan - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Restricted shares      
Unvested awards, beginning balance (in shares) 323,128 246,626 218,013
Granted (in shares) 96,577 205,131 160,878
Vested (in shares) (146,959) (125,033) (124,447)
Forfeited (in shares) (807) (3,596) (7,818)
Unvested awards, ending balance (in shares) 271,939 323,128 246,626
Weighted Average Grant Date Fair Value      
Beginning balance (in dollars per share) $ 45.10 $ 32.72 $ 27.48
Granted (in dollars per share) 55.73 52.90 36.58
Vested (in dollars per share) 42.54 33.78 29.62
Forfeited (in dollars per share) 43.03 34.46 31.33
Ending balance (in dollars per share) $ 50.26 $ 45.10 $ 32.72
Aggregate Fair Value (in millions)      
Aggregate Fair Value (in millions) $ 15.1