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Stock based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
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