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Stock Plans - Option Exercise Ranges (Details)
shares in Thousands
12 Months Ended
Dec. 31, 2022
$ / shares
shares
Options Outstanding  
Outstanding (in shares) | shares 177
Weighted Average Remaining Contractual Life 9 months 18 days
Weighted-Average Exercise Price (in dollars per share) $ 30.94
Options Exercisable  
Outstanding (in shares) | shares 177
Weighted Average Remaining Contractual life 9 months 18 days
Weighted Average Exercise Price (in dollars per share) $ 30.94
Unvested options outstanding (in shares) | shares 0
$20.00 - $30.00  
Stock plans  
Exercise price, low end of range (in dollars per share) $ 20.00
Exercise price, high end of range (in dollars per share) $ 30.00
Options Outstanding  
Outstanding (in shares) | shares 10
Weighted Average Remaining Contractual Life 9 months 18 days
Weighted-Average Exercise Price (in dollars per share) $ 29.21
Options Exercisable  
Outstanding (in shares) | shares 10
Weighted Average Remaining Contractual life 9 months 18 days
Weighted Average Exercise Price (in dollars per share) $ 29.21
$30.01 - $40.00  
Stock plans  
Exercise price, low end of range (in dollars per share) 30.01
Exercise price, high end of range (in dollars per share) $ 40.00
Options Outstanding  
Outstanding (in shares) | shares 167
Weighted Average Remaining Contractual Life 9 months 18 days
Weighted-Average Exercise Price (in dollars per share) $ 31.02
Options Exercisable  
Outstanding (in shares) | shares 167
Weighted Average Remaining Contractual life 9 months 18 days
Weighted Average Exercise Price (in dollars per share) $ 31.02