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Stock-Based Compensation - Schedule of Share-Based Payment Arrangement, Restricted Stock Unit, Activity (Details) - Restricted Stock Units (RSUs)
shares in Thousands
 12 Months Ended
Dec. 31, 2023
$ / shares
shares
Restricted Stock Units (in thousands)  
Total outstanding at beginning of period (in shares) | shares 3,615
Granted (in shares) | shares 2,119
Vested (in shares) | shares (1,610)
Forfeited (in shares) | shares (216)
Total outstanding at end of period (in shares) | shares 3,908
Weighted Average Grant Date Fair Value  
Total outstanding at beginning of period - weighted average grant date fair value (in dollars per share) | $ / shares $ 21.49
Granted - weighted average grant date fair value (in dollars per share) | $ / shares 22.68
Vested - weighted average grant date fair value (in dollars per share) | $ / shares 22.08
Forfeited or expired - weighted average grant date fair value (in dollars per share) | $ / shares 21.28
Total outstanding at end of period - weighted average grant date fair value (in dollars per share) | $ / shares $ 21.90