People who achieved acceptance, how did you do it?

People who achieved acceptance, how did you do it? Most of the time I don't stutter and it's not even because I'm trying to hide it or anything, but there are periods of time that it comes back in full force and it crushes my self esteem even harder. I'm looking into a more acceptance approach and not caring about what anyone says (easier said than done), so for people how got it, how did you do it? Advice, books, videos, anything would help. Thank you