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Stock Incentive Plans - Employee Stock Purchase Plan (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 9 Months Ended
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Sep. 30, 2022 | Sep. 30, 2021
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |
Share-based compensation expense for ESPP | $ 8,743 | $ 8,179
ESPP | Continuing Operations |  |
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |
Shares purchased by participants under the ESPP (in shares) | 5 | 5
Average share price (in dollars per share) | $ 82.76 | $ 68.76
Weighted-average fair value of each purchase right under the ESPP granted (in dollars per share) | $ 9.20 | $ 20.99
Share-based compensation expense for ESPP | $ 42 | $ 118

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