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Stockholders' Equity - Stock Option Activity (Details) - Stock Options
$ / shares in Units, shares in Thousands, $ in Thousands
 9 Months Ended
Sep. 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 (436)
Options forfeited or expired (in shares) | shares (72)
Outstanding, ending balance (in shares) | shares 973
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 19.07
Options forfeited or expired, weighted average exercise price (in USD per share) | $ / shares 141.71
Outstanding, ending balance, weighted average exercise price (in USD per share) | $ / shares $ 53.66
Outstanding, ending balance, weighted average remaining contractual life (years) 4 years 9 months 18 days
Outstanding, ending balance, aggregate intrinsic value | $ $ 27,290