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Employee Benefit Plans - Schedule of ESPP Activity (Details) - ESPP shares in Thousands, $ in Thousands | 12 Months Ended
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Dec. 31, 2023 USD ($) participant shares | Dec. 31, 2022 USD ($) participant shares | Dec. 31, 2021 USD ($) participant shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Approximate Number of Participants | participant | 2,015 | 1,969 | 2,036
Shares Purchased (in shares) | shares | 193 | 201 | 316
Aggregate Purchase Price | $ | $ 18,759 | $ 17,250 | $ 17,224

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