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Employee Stock Plans - Schedule of Stock-Based Compensation Awards (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Share-Based Payment Arrangement [Abstract]        
Stock options $ 0 $ 0 $ 768 $ 248
Restricted stock units and awards 1,452 1,188 4,066 4,015
Performance share units 1,650 4,371 4,887 7,724
Total stock-based compensation expense $ 3,102 $ 5,559 $ 9,721 $ 11,987