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Stockholders' Equity and Stock Plans - Schedule of Cashless Exercise Information (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Equity [Abstract]
Number of shares withheld (in shares)	3,132	11,505	27,929
Total amount withheld (in thousands)	$ 86	$ 393	$ 1,085
Weighted-average price (usd per share)	$ 27.57	$ 34.13	$ 38.85

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- Definition

Adjustments Related To Tax Withholding And Exercise Of Options For Share-Based Compensation

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- Definition

Share-based Compensation Arrangements by Share-based Payment Award, Options, Tax Withholding And Exercises in Period, Weighted Average Exercise Price

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- Definition

Number of shares used to settle grantee's tax withholding obligation for award under share-based payment arrangement.

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