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Income Taxes - Reconciliation of the Federal Statutory Income Tax Rate to the Company's Effective Tax Rate (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Effective Income Tax Rate Reconciliation, Percent [Abstract]      
Statutory federal income tax rate 21.00% 21.00% 21.00%
State income taxes - net of federal tax benefit 2.80% 2.00% 3.10%
Foreign tax rate differential 1.50% 0.60% 1.30%
Non-deductible expenses 0.40% 0.40% 0.40%
Tax carryforward expiration 0.00% 2.50% 0.00%
Changes in unrecognized tax benefits 0.00% (1.00%) 0.00%
Valuation allowances 0.00% (2.30%) 0.00%
Other 0.30% (0.30%) (0.20%)
Effective tax rate for the year 26.00% 22.90% 25.60%