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Stockholders' Equity (Details) - USD ($) $ in Thousands | 3 Months Ended |
--- | --- | ---
Mar. 31, 2023 | Mar. 31, 2022 | Aug. 06, 2020
Equity, Class of Treasury Stock [Line Items] |  |  |
Repurchase and retirement of common stock | $ 2,875 | $ 62,810 |
Number of remaining shares available for purchase (in shares) | 6,327,154 |  |
Number of shares purchased from plan participants (in shares) | 36,652 | 40,372 |
Tax withholding aggregate cost | $ 2,900 | $ 4,100 |
2020 Repurchase Program |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Maximum number of shares authorized to be repurchased (in shares) |  |  | 10,000,000
Repurchase and retirement of common stock (in shares) | 0 | 554,289 |
Repurchase and retirement of common stock | $ 0 | $ 58,700 |
Shares repurchased under the program (in shares) | 3,672,846 |  |
Aggregate cost of shares repurchased | $ 296,900 |  |

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