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Stock-based Compensation - Unvested Restricted Stock Units Activity (Details) - Restricted Stock Units (RSUs)
9 Months Ended
Sep. 30, 2023
$ / shares
shares
Unvested Restricted Stock Units, Number of Shares  
Unvested at the beginning of the period (in shares) | shares 1,514,875
Granted (in shares) | shares 704,565
Vested (in shares) | shares (229,187)
Forfeited/canceled (in shares) | shares (379,754)
Unvested at the end of the period (in shares) | shares 1,610,499
Expected to vest after the end of the period (in shares) | shares 1,769,213
Unvested Restricted Stock Units, Weighted-Average Grant-Date Fair Value  
Unvested at the beginning of the period (in dollars per share) | $ / shares $ 45.90
Granted (in dollars per share) | $ / shares 44.73
Vested (in dollars per share) | $ / shares 44.19
Forfeited/canceled (in dollars per share) | $ / shares 42.52
Unvested at the end of the period (in dollars per share) | $ / shares 46.43
Expected to vest after the end of the period (in dollars per share) | $ / shares $ 46.17