Stock-based Compensation Expense - Schedule of weighted-average Assumptions (Details) - ESPP share issuances - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected stock price volatility	28.52%	33.55%	34.06%
Risk-free interest rate	5.13%	4.05%	0.05%
Expected term (in years)	8 months 15 days	8 months 15 days	8 months 8 days
Expected annual dividends	$ 0	$ 0	$ 0