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Stock Plans (Tables) | 12 Months Ended
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Dec. 31, 2022
Share-Based Payment Arrangement [Abstract] |
Schedule of Restricted Stock Units Activity | RSU activity was as follows:
| Number of Shares |  | Weighted-Average Grant Date Fair Value Per Share
Balance at December 31, 2021 | 2,702,462 |  |  | $ | 46.84 |
Granted | 1,206,601 |  |  | $ | 49.22 |
Vested | (556,399) |  |  | $ | 51.96 |
Forfeited | (94,869) |  |  | $ | 45.10 |
Balance at December 31, 2022 | 3,257,795 |  |  | $ | 46.90 |

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