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Stock-based Compensation - Performance-based RSU Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Performance Based Stock Units      
Vested (in shares) (343)    
Weighted-Average Grant-Date Fair Value      
Vested (in dollars per share) $ 19.54    
PSUs      
Performance Based Stock Units      
Outstanding at the beginning of the period (in shares) 1,396    
Granted (in shares) 542 500 300
Change in achievement (in shares) 72    
Forfeited (in shares) (14)    
Outstanding at the end of the period (in shares) 1,653 1,396  
Weighted-Average Grant-Date Fair Value      
Outstanding at the beginning of the period (in dollars per share) $ 24.30    
Weighted-average fair value per option granted (in dollars per share) 34.07    
Change in achievement (in dollars per share) 26.60    
Forfeited (in dollars per share) 31.77    
Outstanding at the end of the period (in dollars per share) $ 30.53 $ 24.30  
Weighted Average Remaining Contractual Term 8 years 5 months 1 day 8 years 8 months 19 days  
Aggregate Intrinsic Value $ 4,131 $ 5,274  
Vested and expected to vest      
Performance Based Stock Units (in shares) 1,653    
Weighted Average Grant Date Fair Value (in dollars per share) $ 30.53    
Weighted Average Remaining Contractual Term 8 years 5 months 1 day    
Aggregate Intrinsic Value $ 4,131