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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, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021
Share-Based Payment Arrangement [Abstract] |  |  |  |
Stock options | $ 75 | $ 232 | $ 248 | $ 533
Restricted stock units and awards | 1,334 | 1,445 | 2,827 | 2,826
Performance share units | 1,330 | 922 | 3,353 | 2,095
Total stock-based compensation expense | $ 2,739 | $ 2,599 | $ 6,428 | $ 5,454

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