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Restructuring Charges (Details) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($)
Restructuring and related costs, positions eliminated |  |  |
Restructuring and other charges | $ 0 | $ 368 | $ 4,089
2020 Plan |  |  |
Restructuring and related costs, positions eliminated |  |  |
Restructuring, number of positions eliminated |  |  | 70
Restructuring and other charges |  | $ 400 | $ 3,300

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