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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2022
Dec. 31, 2021
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 0.00001 $ 0.00001
Common stock, shares authorized (in shares) 600,000,000 600,000,000
Common stock, shares issued (in shares) 170,638,525 168,546,513
Common stock, shares outstanding (in shares) 142,930,598 142,633,934
Treasury stock, common shares (in shares) 27,707,927 25,912,579