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Stockholders’ Equity and Stock-Based Compensation - Restricted Stock Unit Activity (Details) - Equity Incentive Plan - Restricted Stock Units
 9 Months Ended
Sep. 30, 2023
$ / shares
shares
Units  
Beginning balance (in shares) | shares 2,227,081
Awards granted (in shares) | shares 1,402,715
Awards vested (in shares) | shares (830,549)
Awards canceled (in shares) | shares (336,753)
Ending balance (in shares) | shares 2,462,494
Weighted Average Grant Date Fair Value  
Beginning balance (in dollars per share) | $ / shares $ 35.28
Awards granted (in dollars per share) | $ / shares 33.84
Awards vested (in dollars per share) | $ / shares 33.56
Awards canceled (in dollars per share) | $ / shares 30.14
Ending balance (in dollars per share) | $ / shares $ 35.74