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Stockholders' Equity - Stock Repurchase Program (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Stockholders' Equity        
Average purchase price per share for share repurchase (in dollars per share)   $ 34.78   $ 34.81
Aggregate purchase price   $ 19,800   $ 19,972
Authorized repurchase amount $ 80,000   $ 80,000  
Common Stock        
Stockholders' Equity        
Shares repurchased during the period (in shares) 0 572,203 0 576,963