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Employee Stock Purchase and Stock Incentive Plans - Schedule of Stock Issuance Activity Under Employee Stock Purchase Plan (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Share-Based Payment Arrangement [Abstract] |  |  |  |
Total purchase price paid by employees for shares sold | $ 466 | $ 379 | $ 932 | $ 763
Number of shares sold (in shares) |  |  | 32,346 |

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