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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, 2023 | Sep. 30, 2022
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |
Share-based compensation expense for ESPP | $ 9,352 | $ 8,743
ESPP |  |
Schedule of Employee Stock Purchase Plan (ESPP) Disclosures [Line Items] |  |
Shares purchased by participants under the ESPP (in shares) | 4 | 5
Average share price (in dollars per share) | $ 94.23 | $ 82.76
Weighted-average fair value of each purchase right under the ESPP granted (in dollars per share) | $ 10.47 | $ 9.20
Share-based compensation expense for ESPP | $ 42 | $ 42

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