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Stockholders' Equity - Narrative (Details) - USD ($)
shares in Thousands, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Aug. 02, 2023
Nov. 10, 2021
Class of Stock [Line Items]            
Treasury stock, shares, acquired (in shares) 110 0 110 362    
Treasury stock, value, acquired, cost method $ 2,600   $ 2,600 $ 5,000    
Stock repurchase program, remaining authorized repurchase amount $ 43,300   $ 43,300      
Restricted Stock Awards            
Class of Stock [Line Items]            
Awards granted (in shares) 102   405      
Fair value $ 2,300          
Unrecognized compensation costs 15,000   $ 15,000      
Weighted average period     1 year 8 months 12 days      
Stock Option Awards            
Class of Stock [Line Items]            
Awards granted (in shares)     0      
Weighted average period     1 year 7 months 6 days      
Unrecognized compensation costs related to options $ 2,800   $ 2,800      
Performance Restricted Stock Units            
Class of Stock [Line Items]            
Awards granted (in shares) 0   90      
Fair value     $ 2,500      
Unrecognized compensation costs $ 2,600   $ 2,600      
Weighted average period     2 years 4 months 24 days      
Performance period (in years)     3 years      
Common Stock            
Class of Stock [Line Items]            
Stock repurchase program, authorized amount           $ 50,000
Common Stock | Minimum | Subsequent Event            
Class of Stock [Line Items]            
Stock repurchase program, authorized amount         $ 50,000  
Common Stock | Maximum | Subsequent Event            
Class of Stock [Line Items]            
Stock repurchase program, authorized amount         $ 250,000