Stock-Based Compensation - Stock Option Activity (Details) $ / shares in Units, $ in Millions	6 Months Ended
	Jun. 30, 2023 USD ($) $ / shares shares
Number of Shares Under Option
Outstanding, beginning of period (in shares) | shares	539,575
Granted (in shares) | shares	72,291
Exercised (in shares) | shares	(69,443)
Expired (in shares) | shares	(55,879)
Forfeited (in shares) | shares	(20,375)
Outstanding, end of period (in shares) | shares	466,169
Vested and expected to vest (in shares) | shares	449,236
Exercisable (in shares) | shares	325,063
Weighted Average Exercise Price Per Share
Beginning of period (USD per share) | $ / shares	$ 75.65
Granted (USD per share) | $ / shares	74.94
Exercised (USD per share) | $ / shares	54.90
Expired (USD per share) | $ / shares	82.17
Forfeited (USD per share) | $ / shares	79.22
End of period (USD per share) | $ / shares	77.69
Vested and expected to vest (USD per share) | $ / shares	77.84
Exercisable (USD per share) | $ / shares	$ 57.61
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Weighted average remaining contractual term (in years)	6 years 2 months 12 days
Weighted average remaining contractual term, vested and expected to vest (in years)	6 years 1 month 6 days
Weighted average remaining contractual term, exercisable (in years)	5 years 1 month 6 days
Options, outstanding, intrinsic value | $	$ 0.3
Options, vested and expected to vest, intrinsic value | $	0.3
Options, vested and expected to vest, exercisable | $	$ 0.3