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Equity Award Plans - Schedule of Restricted Stock (Details) - Restricted Stock Units (RSUs)
12 Months Ended
Dec. 31, 2023
$ / shares
shares
Shares  
Outstanding, end of period (in shares) 208,735
2017 Equity Plan  
Shares  
Nonvested, beginning of period (in shares) 756,063
Granted (in shares) 508,927
Canceled (in shares) (5,982)
Forfeited (in shares) (324)
Vested (in shares) (608,224)
Outstanding, end of period (in shares) 650,460
Weighted Average Grant Date Fair Value  
Nonvested, beginning of period (in dollars per share) | $ / shares $ 26.99
Granted (in dollars per share) | $ / shares 29.90
Canceled (in dollars per share) | $ / shares 36.60
Forfeited (in dollars per share) | $ / shares 37.43
Vested (in dollars per share) | $ / shares $ 29.10