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Stockholders' Equity - Stock Option Activity Schedule (Details) - Stock Option Awards - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Number of Options    
Outstanding, Beginning of year (in shares) 2,195  
Issued (in shares) 449  
Exercise (in shares) (349)  
Forfeited / canceled (in shares) (275)  
Outstanding, End of year (in shares) 2,020 2,195
Exercisable, end of year (in shares) 1,300  
Weighted-Average Exercise Price    
Outstanding, beginning of year (USD per share) $ 18.50  
Issued (USD per share) 14.91  
Exercised (USD per share) 16.79  
Forfeited / canceled (USD per share) 19.13  
Outstanding, end of year (USD per share) 17.92 $ 18.50
Exercisable, weighted average exercise price (USD per share) $ 18.94  
Weighted-Average Remaining Contractual Term in Years    
Outstanding 4 years 3 months 18 days 4 years 2 months 12 days
Options exercisable 3 years 2 months 12 days  
Aggregate Intrinsic Value    
Outstanding at Beginning $ 446  
Outstanding at ending 10,779 $ 446
Exercisable $ 5,608