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Stock-Based Compensation - Stock Incentive Plans (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock-based payment awards
Shares withheld related to net settlement of equity awards (in shares)	388,128	283,024	283,972
Shares withheld related to net settlement of equity awards (in dollars)	$ 3,829	$ 2,447	$ 2,465
2020 Plan
Stock-based payment awards
Number of shares authorized for issuance	8,500,000

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