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Stockholders' Equity (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended | 38 Months Ended |
--- | --- | --- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Aug. 06, 2020
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |
Repurchase of common stock | $ 41,019 |  | $ 104,919 | $ 71,337 |  |
Number of remaining shares available for purchase (in shares) | 4,741,308 |  | 4,741,308 |  | 4,741,308 |
Number of shares purchased from plan participants (in shares) | 9,479 | 2,601 | 51,354 | 52,837 |  |
Tax withholding aggregate cost | $ 200 | $ 200 | $ 3,500 | $ 5,200 |  |
2020 Repurchase Program |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |
Maximum number of shares authorized to be repurchased (in shares) |  |  |  |  |  | 10,000,000
Shares repurchased under the program (in shares) | 605,428 | 0 | 1,585,846 | 736,536 | 5,258,692 |
Repurchase of common stock | $ 41,000 | $ 0 | $ 104,900 | $ 71,300 |  |
Repurchase of common stock |  |  |  |  | $ 401,800 |

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