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Stock-Based Compensation - Summary of Compensation Expense, Net of Forfeitures (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Share-Based Payment Arrangement [Abstract]        
Compensation expense $ 4,479 $ 4,702 $ 13,939 $ 13,707
Income tax benefit $ 888 $ 930 $ 2,767 $ 2,715