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Stockholders' Equity | 12 Months Ended
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Dec. 31, 2023
Equity [Abstract] |
Stockholders' Equity | Stockholders’ Equity Share Repurchase Program Our board of directors has authorized multiple non-concurrent programs to repurchase our common stock. Details of the programs and activity thereunder through December 31, 2023 were as follows:
(in thousands) | Effective Date | Expiration Date |  | Share Value Authorized for Repurchase |  | Share Value Repurchased |  | Unused & Expired Share Repurchase Value |  | Share Value Available for Future Repurchase
2019 Program | November 2019 | November 2021 |  | $ | 50,000 |  |  | $ | 29,611 |  |  | $ | 20,389 |  |  | N/A
2021 Program | November 2021 | August 2022 |  | 50,000 |  |  | 49,992 |  |  | 8 |  |  | N/A
2022 Program | August 2022 | July 2024 |  | 50,000 |  |  | 2,992 |  |  | N/A |  | $ | 47,008 |
The share repurchase activity by period was as follows:
| Year Ended December 31,
(in thousands, except shares and per share amounts) | 2023 |  | 2022 |  | 2021
Number of shares repurchased | — |  |  | 361,745 |  |  | 176,103 |
Shares repurchased cost | $ | — |  |  | $ | 43,215 |  |  | $ | 20,430 |
Average price per repurchased share | $ | — |  |  | $ | 119.46 |  |  | $ | 116.01 |

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