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Stock Plans and Stock-Based Compensation - Summary of RSU and PSU Activity (Details) - Restricted Stock Units and Performance-Based Restricted Stock Units
3 Months Ended
Mar. 31, 2023
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Number of Shares, Outstanding, Beginning Balance 3,233,298
Number of Shares, Granted 547,911
Number of Shares, Vested (250,127)
Number of Shares, Forfeited (109,716)
Number of Shares, Outstanding, Ending Balance 3,421,366