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Equity - Employee Stock Purchase Plan (Details) - USD ($)
$ in Thousands
12 Months Ended
Jun. 07, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total share-based compensation   $ 12,666 $ 14,757 $ 15,357
Accrued compensation   21,852 $ 23,595  
Employee stock purchase plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Purchase price of common stock 85.00%      
Purchase period 6 months      
Shares authorized for grant under the plan (in shares) 3,000,000      
Total share-based compensation   200    
Accrued compensation   $ 600    
Shares issued during period (in shares)   0    
Unrecognized stock-based compensation related to unvested restricted stock awards   $ 100    
Expenses expected to be recognized over a weighted-average period   29 days