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Net Income Per Share - Basic and Diluted Net Income Per Share (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Numerator:      
Net income $ 151,595 $ 107,992 $ 70,960
Denominator:      
Basic weighted average shares (in shares) 36,879 38,453 39,030
Effect of potentially dilutive shares:      
Stock options (in shares) 482 672 863
Restricted stock units (in shares) 237 216 224
Employee stock purchase plan (in shares) 4 3 1
Diluted weighted average shares (in shares) 37,602 39,344 40,118
Net income per share:      
Basic (in USD per share) $ 4.11 $ 2.81 $ 1.82
Diluted (in USD per share) $ 4.03 $ 2.74 $ 1.77