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Employee Stock Plans - Schedule of Stock-Based Compensation Awards (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2021 | Jun. 30, 2020 | Jun. 30, 2021 | Jun. 30, 2020
Share-based Payment Arrangement [Abstract] |  |  |  |
Stock options | $ 232 | $ 367 | $ 533 | $ 788
Restricted stock units and awards | 1,445 | 1,324 | 2,826 | 2,495
Performance share units | 922 | 566 | 2,095 | 997
Total stock-based compensation expense | $ 2,599 | $ 2,257 | $ 5,454 | $ 4,280

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