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Stockholders' Equity (Details) - 2020 Share repurchase program - USD ($) $ in Millions | Dec. 31, 2023 | Nov. 02, 2023 | Oct. 29, 2020
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Class of stock |  |  |
Number of shares authorized to be repurchased under the plan |  |  | 20,000,000
Remaining number of shares authorized to be repurchased | 7,900,000 |  |
Amount authorized to be repurchased |  | $ 50.0 |
Amount authorized to be repurchased per quarter, maximum |  | $ 25.0 |

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