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Common Stock and Stock-Based Awards Plans (Tables) | 12 Months Ended
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Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
Summary of Stock Options | The following table summarizes activities related to the Company’s stock options:
(in thousands, except per share data) |  | Number of Options |  |  | Weighted- Average Exercise Price |  |  | Weighted- Average Remaining Contractual Term (Years) |  |  | Aggregate Intrinsic Value |
Outstanding as of December 31, 2019 |  |  | 270 |  |  | $ | 20.02 |  |  |  |  |  |  |
Exercised |  |  | (76 | ) |  |  | 19.87 |  |  |  |  |  |  |
Forfeited or expired |  |  | (6 | ) |  |  | 23.08 |  |  |  |  |  |  |
Outstanding as of December 31, 2020 |  |  | 188 |  |  | $ | 19.98 |  |  |  |  |  |  |
Exercised |  |  | (54 | ) |  |  | 19.77 |  |  |  |  |  |  |
Forfeited or expired |  |  | (2 | ) |  |  | 20.16 |  |  |  |  |  |  |
Outstanding as of December 31, 2021 |  |  | 132 |  |  | $ | 20.06 |  |  |  |  |  |  |
Exercised |  |  | (53 | ) |  |  | 17.16 |  |  |  |  |  |  |
Forfeited or expired |  |  | (22 | ) |  |  | 22.36 |  |  |  |  |  |  |
Outstanding and exercisable as of December 31, 2022 |  |  | 57 |  |  | $ | 21.85 |  |  |  | 1.36 |  |  | $ | 277 |
Restricted Stock Units (RSUs) [Member] |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
Summary of Stock-Based Awards | The following table summarizes the activities related to the Company’s time-based restricted stock units:
(in thousands, except per share data) |  | Number of Units |  |  | Weighted- Average Grant Date Fair Value |
Non-vested awards outstanding as of December 31, 2019 |  |  | 893 |  |  | $ | 28.06 |
Granted |  |  | 533 |  |  |  | 26.52 |
Vested |  |  | (336 | ) |  |  | 27.69 |
Forfeited |  |  | (64 | ) |  |  | 28.54 |
Non-vested awards outstanding as of December 31, 2020 |  |  | 1,026 |  |  | $ | 27.35 |
Granted |  |  | 503 |  |  |  | 28.52 |
Vested |  |  | (377 | ) |  |  | 26.77 |
Forfeited |  |  | (95 | ) |  |  | 28.47 |
Non-vested awards outstanding as of December 31, 2021 |  |  | 1,057 |  |  | $ | 28.02 |
Granted |  |  | 616 |  |  |  | 25.90 |
Vested |  |  | (407 | ) |  |  | 28.08 |
Forfeited |  |  | (81 | ) |  |  | 27.44 |
Non-vested awards outstanding as of December 31, 2022 |  |  | 1,185 |  |  | $ | 26.93 |
Performance-Based Restricted Stock Units [Member] |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
Summary of Stock-Based Awards | The following table summarizes the activities related to the Company’s performance-based restricted stock units:
|  |  |  |  | Weighted- |
|  |  |  |  | Average |
|  | Number of |  |  | Grant Date |
(in thousands, except per share data) |  | Units |  |  | Fair Value |
Non-vested units outstanding as of December 31, 2019 |  |  | 384 |  |  | $ | 28.89 |
Granted(1) |  |  | 165 |  |  |  | 28.02 |
Forfeited |  |  | (181 | ) |  |  | 30.04 |
Non-vested units outstanding as of December 31, 2020 |  |  | 368 |  |  | $ | 27.93 |
Granted(1) |  |  | 234 |  |  |  | 28.60 |
Forfeited |  |  | (60 | ) |  |  | 29.38 |
Non-vested units outstanding as of December 31, 2021 |  |  | 542 |  |  | $ | 28.06 |
Granted(1) |  |  | 177 |  |  |  | 25.97 |
Forfeited |  |  | (174 | ) |  |  | 27.29 |
Non-vested units outstanding as of December 31, 2022 |  |  | 545 |  |  | $ | 27.62 |
(1) Represents target number of units that can vest based on the achievement of the performance goals.

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- Definition Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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