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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, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Share-Based Payment Arrangement [Abstract] |  |  |  |
Stock options | $ 0 | $ 0 | $ 768 | $ 248
Restricted stock units and awards | 1,452 | 1,188 | 4,066 | 4,015
Performance share units | 1,650 | 4,371 | 4,887 | 7,724
Total stock-based compensation expense | $ 3,102 | $ 5,559 | $ 9,721 | $ 11,987

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