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CONDENSED CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY (Parenthetical) - shares | 3 Months Ended
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Sep. 30, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | Sep. 30, 2022 | Jun. 30, 2022 | Mar. 31, 2022
Statement of Stockholders' Equity [Abstract] |  |  |  |  |  |
Issuance of shares of Common Stock upon exercise of stock options and settlement of employee restricted stock units and performance shares (in shares) | 762,231 | 59,093 | 313,995 | 578,106 | 274,693 | 323,582
Issuance of shares of Common Stock under the ESPP (in shares) |  | 216,168 |  |  | 189,684 |
Issuance of shares of Common Stock for services rendered (in shares) | 1,278 | 1,282 | 1,073 | 1,337 | 1,469 | 1,535

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