Equity Incentive Awards - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Shares Subject To Options
Beginning balance (in shares)	80,985	73,775	57,590
Options issued (in shares)	8,450	7,210	16,185
Ending balance (in shares)	89,435	80,985	73,775	57,590
Exercisable, period end (in shares)	81,345
Weighted Average Exercise Price Per Share
Beginning balance (usd per share)	$ 54.94	$ 52.52	$ 47.96
Options issued (usd per share)	68.01	79.72	68.74
Ending balance (usd per share)	56.18	$ 54.94	$ 52.52	$ 47.96
Exercisable, period end (usd per share)	$ 54.70
Weighted Average Outstanding Contractual Life (in years)
Balance outstanding, Weighted Average Outstanding Contractual Life (in years)	5 years 7 months 6 days	6 years 2 months 12 days	6 years 10 months 24 days	7 years 2 months 12 days
Exercisable, period end (in years)	5 years 2 months 12 days
Average Intrinsic Value (in millions)
Beginning and ending balance	$ 1.4	$ 1.0	$ 2.6	$ 0.9
Exercisable, period end	$ 1.3