Stock-based Compensation Expense - Additional Information (Details) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($) installment $ / shares	Dec. 31, 2022 USD ($) $ / shares	Dec. 31, 2021 USD ($) $ / shares
Financial performance shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of installments | installment	3
Vesting period	3 years
Financial performance shares | Tranche one
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting percentage	33.30%
Financial performance shares | Tranche two
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting percentage	33.30%
Financial performance shares | Tranche three
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting percentage	33.30%
Non-financial performance shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period	3 years
ESPP share issuances
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in dollars per share)	$ 90.91	$ 79.36	$ 51.71
Nonemployee Stock Option
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Grant date fair values | $	$ 1.8	$ 1.8	$ 1.8
Weighted-average grant-date fair value, granted ( in usd per share)	$ 114.92	$ 89.65	$ 65.94