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Shareholder's Equity and Stock-Based Compensation - Schedule of RSA/RSU Activity (Details) - RSA/RSU
9 Months Ended
Sep. 30, 2023
shares
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]  
Outstanding and unvested - beginning of period (in shares) 523,377
Granted (in shares) 36,938
Vested (in shares) (133,039)
Forfeited (in shares) (20,809)
Outstanding and unvested - end of period (in shares) 406,467
Cumulative vested shares - end of period (in shares) 2,362,955