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Condensed Consolidated Balance Sheets (Parenthetical) - $ / shares
Jun. 30, 2023
Dec. 31, 2022
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) 173,586,323 170,638,525
Common stock, shares outstanding (in shares) 145,196,458 142,930,598
Treasury stock, common shares (in shares) 28,389,865 27,707,927