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Stockholders' Equity and Stock Plans - Schedule of Share Repurchases (Details) - USD ($) $ in Thousands | 3 Months Ended | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | ---
Mar. 31, 2022 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Jul. 21, 2023 | Oct. 22, 2021 | Jul. 16, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Stock repurchased |  |  | $ 877 | $ 40,722 |  |  |
Common Stock |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Stock repurchase program, authorized amount |  |  |  |  | $ 25,000 | $ 57,000 | $ 25,000
Stock repurchased, including commissions (in shares) | 23,275 | 0 | 23,275 | 1,117,666 |  |  |
Stock repurchased | $ 877 |  | $ 877 | $ 40,722 |  |  |

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