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Stock-based Compensation - Leveraged Stock Units Activity (Details) - LSUs - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Leveraged Stock Units        
Outstanding at the beginning of the period (in shares) 1,084      
Change in achievement 303   500 700
Vested (in shares) (867)      
Outstanding at the end of the period (in shares) 520 1,084    
Weighted-Average Grant-Date Fair Value        
Outstanding at the beginning of the period (in dollars per share) $ 11.07      
Weighted-average fair value per option granted (in dollars per share) 12.85   $ 8.90 $ 6.52
Vested (in dollars per share) 12.85      
Outstanding at the end of the period (in dollars per share) $ 9.15 $ 11.07    
Weighted Average Remaining Contractual Term 7 years 2 months 26 days 7 years 8 months 4 days    
Aggregate Intrinsic Value $ 9,846 $ 17,993    
Vested and expected to vest        
Leveraged Stock Units (in shares) 520      
Weighted Average Grant Date Fair Value (in dollars per share) $ 9.15      
Weighted Average Remaining Contractual Term 7 years 2 months 26 days      
Aggregate Intrinsic Value $ 9,846