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Stock-based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Options    
Outstanding at the beginning of the period (in shares) 2,549  
Exercised (in shares) (651)  
Forfeited (in shares) (3)  
Outstanding at the end of the period (in shares) 1,895 2,549
Vested and expected to vest at the end of the period (in shares) 1,895  
Exercisable at the end of the period (in shares) 1,841  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]    
Outstanding at the beginning of the period (in dollars per share) $ 9.49  
Exercised (in dollars per share) 6.84  
Forfeited (in dollars per share) 13.29  
Outstanding at the end of the period (in dollars per share) 10.40 $ 9.49
Vested and expected to vest at the end of the period (in dollars per share) 10.40  
Exercisable at the end of the period (in dollars per share) $ 10.36  
Weighted Average Remaining Contractual Term    
Outstanding 3 years 2 months 26 days 3 years 11 months 26 days
Vested and expected to vest 3 years 2 months 26 days  
Exercisable 3 years 1 month 24 days  
Aggregate Intrinsic Value    
Outstanding $ 33,503 $ 46,342
Vested and expected to vest 33,503  
Exercisable $ 32,621