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Stock Plans - Stock Option Activity (Details) - $ / shares
shares in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Shares      
Outstanding at the beginning of the period (in shares) 177 443 730
Exercised (in shares) (2)   (2)
Expired (in shares) (165) (266) (285)
Outstanding at the end of the period (in shares) 10 177 443
Weighted Average Exercise Price      
Outstanding at the beginning of the period (in dollars per share) $ 30.94 $ 32.15 $ 35.26
Exercised (in dollars per share) 30.47   23.36
Expired (in dollars per share) 30.53 32.95 40.16
Outstanding at the end of the period (in dollars per share) $ 37.42 $ 30.94 $ 32.15
Weighted average remaining contractual life of outstanding stock options 6 months