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Equity Incentive Plans - Summary of Restricted Stock Activity (Details) - Restricted Stock Award
shares in Thousands
 12 Months Ended
Dec. 31, 2023
$ / shares
shares
Summary of the activity of restricted stock  
Restricted stock outstanding shares, Beginning Balance (in shares) | shares 3,595
Granted (in shares) | shares 1,758
Vested (in shares) | shares (1,252)
Forfeited/canceled (in shares) | shares (102)
Restricted stock outstanding shares, Ending Balance (in shares) | shares 3,999
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]  
Restricted stock outstanding Wtd. Avg. Grant Date Fair Value, Beginning Balance (in dollars per share) | $ / shares $ 8.29
Granted Wtd. Avg. Grant Date Fair Value (in dollars per share) | $ / shares 9.16
Vested Wtd. Avg. Grant Date Fair Value (in dollars per share) | $ / shares 11.57
Forfeited/Canceled Wtd. Avg. Grant Date Fair Value (in dollars per share) | $ / shares 8.55
Restricted stock outstanding Wtd. Avg. Grant Date Fair Value, Ending Balance (in dollars per share) | $ / shares $ 7.78