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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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