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Employee Stock Plans - Schedule of Stock-Based Compensation Awards (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2024 | Mar. 31, 2023
Share-Based Payment Arrangement [Abstract] |  |
Stock options | $ 0 | $ 768
Restricted stock units and awards | 1,351 | 1,259
Performance share units | 1,287 | 1,804
Total stock-based compensation expense | $ 2,638 | $ 3,831

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