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Stock Plans - Schedule of Stock Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Share-Based Payment Arrangement [Abstract] |  |  |  |
Stock compensation expense | $ 6,759 | $ 4,629 | $ 13,029 | $ 8,358
Income tax benefit | 1,656 | 1,134 | 3,192 | 2,048
Stock compensation expense, net of tax | $ 5,103 | $ 3,495 | $ 9,837 | $ 6,310

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