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Employee Stock Plans - Schedule of Performance Share Units Activity (Details) - Performance share units
shares in Thousands
6 Months Ended
Jun. 30, 2023
$ / shares
shares
Performance Share Units  
Outstanding at beginning of period (in shares) | shares 482
Granted (in shares) | shares 88
Vested (in shares) | shares (244)
Outstanding at end of period (in shares) | shares 326
Performance Share Units Award Weighted Average Grant Date Fair Value  
Outstanding at beginning of period (in dollars per share) | $ / shares $ 28.84
Granted (in dollars per share) | $ / shares 48.40
Vested (in dollars per share) | $ / shares 25.75
Outstanding at end of period (in dollars per share) | $ / shares $ 36.46