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Stock Incentive Plans - Share-based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Share-Based Payment Arrangement [Abstract]        
Share-based compensation expense $ 2,736 $ 2,355 $ 8,349 $ 7,661