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Stock-Based Compensation - Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Share-Based Payment Arrangement [Abstract]        
Stock-based compensation expense $ 4,319 $ 3,631 $ 12,318 $ 10,837