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Stock-Based Compensation - Compensation Expense (Details) - USD ($)
$ in Thousands
12 Months Ended
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