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Employee Benefit Plans - Number of Options Outstanding and Exercisable and Weighted Average Remaining Life of All Option Grants (Details)
12 Months Ended
Dec. 31, 2022
$ / shares
shares
Exercise price $9.71  
Outstanding and exercisable options  
Exercise price (in dollars per share) | $ / shares $ 9.71
Number of options (in shares) 442,133
Weighted average remaining contract life (years) 7 years 6 months
Number of options (in shares) 213,249
Weighted average remaining term - vested (years) 7 years 6 months
Exercise price $12.37  
Outstanding and exercisable options  
Exercise price (in dollars per share) | $ / shares $ 12.37
Number of options (in shares) 267,197
Weighted average remaining contract life (years) 2 years 6 months
Number of options (in shares) 224,951
Weighted average remaining term - vested (years) 2 years 6 months
Exercise price $12.44  
Outstanding and exercisable options  
Exercise price (in dollars per share) | $ / shares $ 12.44
Number of options (in shares) 171,998
Weighted average remaining contract life (years) 6 months
Number of options (in shares) 171,998
Weighted average remaining term - vested (years) 6 months
Exercise price $13.15  
Outstanding and exercisable options  
Exercise price (in dollars per share) | $ / shares $ 13.15
Number of options (in shares) 237,004
Weighted average remaining contract life (years) 1 year 6 months
Number of options (in shares) 219,395
Weighted average remaining term - vested (years) 1 year 6 months
Exercise price $13.68  
Outstanding and exercisable options  
Exercise price (in dollars per share) | $ / shares $ 13.68
Number of options (in shares) 588,401
Weighted average remaining contract life (years) 8 years 6 months
Number of options (in shares) 257,543
Weighted average remaining term - vested (years) 8 years 6 months
Exercise price $14.15  
Outstanding and exercisable options  
Exercise price (in dollars per share) | $ / shares $ 14.15
Number of options (in shares) 384,878
Weighted average remaining contract life (years) 3 years 6 months
Number of options (in shares) 302,162
Weighted average remaining term - vested (years) 3 years 6 months
Exercise price $15.57  
Outstanding and exercisable options  
Exercise price (in dollars per share) | $ / shares $ 15.57
Number of options (in shares) 490,787
Weighted average remaining contract life (years) 4 years 6 months
Number of options (in shares) 355,907
Weighted average remaining term - vested (years) 4 years 6 months
Exercise price $16.59  
Outstanding and exercisable options  
Exercise price (in dollars per share) | $ / shares $ 16.59
Number of options (in shares) 626,953
Weighted average remaining contract life (years) 5 years 6 months
Number of options (in shares) 504,215
Weighted average remaining term - vested (years) 5 years 6 months
Exercise price $17.27  
Outstanding and exercisable options  
Exercise price (in dollars per share) | $ / shares $ 17.27
Number of options (in shares) 448,229
Weighted average remaining contract life (years) 6 years 6 months
Number of options (in shares) 306,815
Weighted average remaining term - vested (years) 6 years 6 months
Total Average $14.25  
Outstanding and exercisable options  
Exercise price (in dollars per share) | $ / shares $ 14.25
Number of options (in shares) 3,657,580
Weighted average remaining contract life (years) 5 years 2 months 12 days
Number of options (in shares) 2,556,235
Weighted average remaining term - vested (years) 3 years 9 months 18 days