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Stock Incentive Plans - Summary of Options Outstanding Vested and Expected to Vest (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2024
USD ($)
$ / shares
shares
Share-Based Payment Arrangement [Abstract]  
Vested (in shares) | shares 1,982
Expected to vest (in shares) | shares 921
Total (in shares) | shares 2,903
Vested (in dollars per share) | $ / shares $ 25.24
Expected to vest (in dollars per share) | $ / shares $ 24.58
Vested, weighted-average remaining contractual life (years) 6 years 6 months 10 days
Expected to vest, weighted-average remaining contractual life (years) 8 years 4 months 17 days
Vested, aggregate intrinsic value | $ $ 1,483
Expected to vest, aggregate intrinsic value | $ 172
Total, aggregate intrinsic value | $ $ 1,655