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Stock based Compensation - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting option, vesting, anniversary period | 2 years |  |
Vesting option, exercisable, anniversary period | 4 years |  |
Weighted average grant-date fair value, options (in dollars per share) | $ 6.75 | $ 6.11 | $ 9.08
Aggregate intrinsic value of options exercised | $ 7,100 | $ 2,500 | $ 8,500
Proceeds from stock options exercised, net | 10,261 | $ 4,310 | $ 10,228
Total unrecognized compensation costs | $ 35,000 |  |
Unvested restricted stock units |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Period following separation for accelerated vesting | 2 years |  |
Unrecognized compensation costs, period for recognition (in years) | 2 years |  |
Unrecognized compensation cost | $ 53,600 |  |
Options to purchase common stock |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Unrecognized compensation costs, period for recognition (in years) | 3 years |  |

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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