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Stock Plans - 2019 Plan (Details) - shares shares in Thousands | 12 Months Ended |  |  |
--- | --- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-based compensation |  |  |  |
Number of options outstanding (in shares) | 10 | 177 | 443 | 730
2019 Plan |  |  |  |
Share-based compensation |  |  |  |
Number of shares authorized | 17,800 |  |  |
Employee Stock Option | 2019 Plan |  |  |  |
Share-based compensation |  |  |  |
Vesting period | 3 years |  |  |
Employee Stock Option | 2019 Plan | Minimum |  |  |  |
Share-based compensation |  |  |  |
Expiration term | 7 years |  |  |
Employee Stock Option | 2019 Plan | Maximum |  |  |  |
Share-based compensation |  |  |  |
Expiration term | 10 years |  |  |
Restricted Stock Awards and Restricted Stock Units | 2019 Plan | Minimum |  |  |  |
Share-based compensation |  |  |  |
Vesting period | 1 year |  |  |
Restricted Stock Awards and Restricted Stock Units | 2019 Plan | Maximum |  |  |  |
Share-based compensation |  |  |  |
Vesting period | 5 years |  |  |
RSUs and PSUs | 2019 Plan |  |  |  |
Share-based compensation |  |  |  |
Number of awards outstanding (in shares) | 1,700 |  |  |

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