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Stock-Based Compensation - Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost |  |  |
Total stock-based compensation expense | $ 20,908 | $ 14,497 | $ 10,520
Equity awards |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost |  |  |
Total stock-based compensation expense | 12,998 | 11,928 | 11,336
Liability awards |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost |  |  |
Total stock-based compensation expense | $ 7,910 | $ 2,569 | (816)
Reversal of stock-based compensation expense |  |  | $ 2,100

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