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Share-Based Compensation - Stock Options (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
USD ($)
$ / shares
shares
Stock Options, Outstanding [Roll Forward]  
Stock options outstanding, beginning balance (in shares) | shares 9,304
Granted (in shares) | shares 1,437
Exercised (in shares) | shares (342)
Forfeited (in shares) | shares (96)
Expired (in shares) | shares (4)
Stock options outstanding, ending balance (in shares) | shares 10,299
Stock options exercisable (in shares) | shares 6,337
Stock Options, Outstanding, Weighted Average Exercise Price [Abstract]  
Stock options outstanding, beginning balance (in usd per share) | $ / shares $ 6.67
Granted (in usd per share) | $ / shares 11.34
Exercised (in usd per share) | $ / shares 6.02
Forfeited (in usd per share) | $ / shares 12.58
Expired (in usd per share) | $ / shares 7.36
Stock options outstanding, ending balance (in usd per share) | $ / shares 7.29
Stock options exercisable (in usd per share) | $ / shares $ 6.82
Stock options outstanding, Weighted Average Remaining Contractual Life (in years) 7 years 2 months 12 days
Stock options exercisable, Weighted Average Remaining Contractual Life (in years) 6 years 3 months 18 days
Stock options outstanding, Aggregate Intrinsic Value | $ $ 811
Stock options exercisable, Aggregate Intrinsic Value | $ $ 627