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CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY (Parenthetical) - shares | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
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, net of shares withheld for taxes (in shares) | 1,154,974 | 1,348,122 | 1,324,926
Issuance of shares of Common Stock under the ESPP (in shares) | 380,145 | 308,413 | 264,503
Issuance of shares of Common Stock for services rendered (in shares) | 5,024 | 5,751 | 5,675

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