Employee Stock Purchase Plan, Stock Options and Warrants - PSUs Fair Value Calculation Assumptions (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected dividend yield	0.00%	0.00%
Stock-Settled Performance-Based Restricted Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Risk-free interest rate, minimum	3.90%	1.60%	0.10%
Risk-free interest rate, maximum	4.60%	2.70%	0.30%
Expected option term / Performance Period	2 years 9 months 18 days
Expected price volatility, minimum	31.40%	38.50%	43.70%
Expected price volatility, maximum	32.60%	46.20%	49.30%
Stock-Settled Performance-Based Restricted Stock Units | Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected option term / Performance Period		2 years 7 months 6 days	1 year 9 months 18 days
Stock-Settled Performance-Based Restricted Stock Units | Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected option term / Performance Period		2 years 9 months 18 days	2 years 9 months 18 days