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Employee Stock Plans - Schedule of Stock-Based Compensation Awards (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Share-based Payment Arrangement [Abstract] |  |  |  |
Stock options | $ 581 | $ 615 | $ 1,114 | $ 1,403
Restricted stock units and awards | 1,388 | 1,266 | 4,214 | 3,761
Performance share units | 936 | 604 | 3,031 | 1,601
Total stock-based compensation expense | $ 2,905 | $ 2,485 | $ 8,359 | $ 6,765

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