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Employee Stock Plans - Schedule of Stock-Based Compensation Awards (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Share-Based Payment Arrangement [Abstract]        
Stock options $ 0 $ 581 $ 248 $ 1,114
Restricted stock units and awards 1,188 1,388 4,015 4,214
Performance share units 4,371 936 7,724 3,031
Total stock-based compensation expense $ 5,559 $ 2,905 $ 11,987 $ 8,359