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Stockholders' Equity (Details 2) - USD ($)
$ in Thousands, shares in Millions
 3 Months Ended 12 Months Ended
Sep. 22, 2023
Aug. 11, 2023
Sep. 30, 2023
Dec. 31, 2022
Sep. 30, 2022
Dec. 31, 2021
Jun. 30, 2021
Dec. 31, 2020
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Class of stock                      
Repurchase and retirement of common stock under repurchase plan, value                 $ (100,526) $ (100,421) $ (100,081)
Accumulated deficit                      
Class of stock                      
Repurchase and retirement of common stock under repurchase plan, value                 $ (94,742) $ (90,140) $ (95,810)
2020 Accelerated share repurchase program                      
Class of stock                      
Accelerated share repurchase program, upfront payment               $ 50,000      
Repurchase and retirement of common stock under repurchase plan, shares             (0.1) (2.6)      
Repurchase and retirement of common stock under repurchase plan, value               $ (40,000)      
Remaining initial payment, unsettled forward contract indexed to Company's stock               $ 10,000      
2021 Accelerated share repurchase program                      
Class of stock                      
Accelerated share repurchase program, upfront payment             $ 100,000        
Repurchase and retirement of common stock under repurchase plan, shares           (0.4) (3.9)        
Repurchase and retirement of common stock under repurchase plan, value             $ (80,000)        
Remaining initial payment, unsettled forward contract indexed to Company's stock             $ 20,000        
2022 Accelerated share repurchase program                      
Class of stock                      
Accelerated share repurchase program, upfront payment         $ 100,000            
Repurchase and retirement of common stock under repurchase plan, shares       (0.1) (3.1)            
Repurchase and retirement of common stock under repurchase plan, value         $ (80,000)            
Remaining initial payment, unsettled forward contract indexed to Company's stock         $ 20,000            
2023 Accelerated share repurchase program                      
Class of stock                      
Accelerated share repurchase program, upfront payment     $ 100,000                
Repurchase and retirement of common stock under repurchase plan, shares (0.2) (1.6)                  
Repurchase and retirement of common stock under repurchase plan, value     (80,000)                
Remaining initial payment, unsettled forward contract indexed to Company's stock     $ 20,000