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Stock-based Compensation - Performance-based Stock Option Awards (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Options    
Outstanding at the beginning of the period (in shares) 1,895  
Outstanding at the end of the period (in shares) 658 1,895
Vested and expected to vest at the end of the period (in shares) 658  
Weighted Average Exercise Price    
Outstanding at the end of the period (in dollars per share) $ 13.23 $ 10.40
Outstanding at the beginning of the period (in dollars per share) 10.40  
Exercisable at the end of the period (in dollars per share) 13.23  
Weighted Average Exercise Price, vested and expected to vest at the end of the period (in dollars per share) $ 13.23  
Weighted Average Remaining Contractual Term    
Outstanding 4 years 11 months 26 days 3 years 2 months 26 days
Vested and expected to vest 4 years 11 months 26 days  
Aggregate Intrinsic Value    
Outstanding $ 13,032 $ 33,503
Vested and expected to vest $ 13,032  
Performance-based stock options    
Options    
Outstanding at the beginning of the period (in shares) 268  
Exercised (in shares) (162)  
Outstanding at the end of the period (in shares) 106 268
Vested and expected to vest at the end of the period (in shares) 106  
Weighted Average Exercise Price    
Outstanding at the end of the period (in dollars per share) $ 10.27 $ 10.27
Outstanding at the beginning of the period (in dollars per share) 10.27  
Exercisable at the end of the period (in dollars per share) 10.27  
Weighted Average Exercise Price, vested and expected to vest at the end of the period (in dollars per share) $ 10.27  
Weighted Average Remaining Contractual Term    
Outstanding 2 years 2 months 1 day 4 years 1 month 28 days
Vested and expected to vest 2 years 2 months 1 day  
Aggregate Intrinsic Value    
Outstanding $ 2,401 $ 5,730
Vested and expected to vest $ 2,401