How did you learn how to accept your stutter and not let it hold you back in life?

How did you learn how to accept your stutter and not let it hold you back in life? I've been struggling with this a lot lately. I go through periods of not stuttering and being a social butterfly and periods where I'm a socially awkward introvert where I can't even hold a conversation. When I stutter it really eats me up inside and its very emotionally painful. I constantly assume other people are judging me and ruminate over what they might be thinking and blame myself.