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Stockholders' Equity - Stock Option Activity (Details) - Stock options
$ / shares in Units, shares in Thousands, $ in Thousands
 6 Months Ended
Jun. 30, 2023
USD ($)
$ / shares
shares
Options Outstanding [Roll Forward]  
Outstanding, beginning balance (in shares) | shares 1,481
Options granted (in shares) | shares 0
Options exercised (in shares) | shares (379)
Options forfeited or expired (in shares) | shares (61)
Outstanding, ending balance (in shares) | shares 1,041
Options Outstanding, Weighted Average Exercise Price [Roll Forward]  
Outstanding, beginning balance, weighted average exercise price (in USD per share) | $ / shares $ 47.75
Options granted, weighted average exercise price (in USD per share) | $ / shares 0
Options exercised, weighted average exercise price (in USD per share) | $ / shares 18.42
Options forfeited or expired, weighted average exercise price (in USD per share) | $ / shares 141.85
Outstanding, ending balance, weighted average exercise price (in USD per share) | $ / shares $ 52.88
Outstanding, ending balance, weighted average remaining contractual life (years) 5 years
Outstanding, ending balance, aggregate intrinsic value | $ $ 43,993