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Stock-based Compensation - Share-Based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended
--- | ---
Mar. 31, 2024 | Mar. 31, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 13,652 | $ 14,007
Incentive Plan |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |
Stock-based compensation expense | 11,566 | 11,061
Inducement Plan |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |
Stock-based compensation expense | 1,923 | 2,475
ESPP |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 163 | $ 471

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