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Stockholders' Deficit - Share Repurchases (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Class of Stock [Line Items]        
Stock repurchased during period, value $ 26,130 $ 120,163 $ 4,480  
2022 Repurchase Program        
Class of Stock [Line Items]        
Stock repurchased during period (in shares) 446,189 1,149,589    
Stock repurchased during period, value $ 26,100 $ 78,700    
Cumulative amount of shares repurchased (in shares) 1,595,778      
Cumulative payments for repurchase of common stock $ 104,800      
Remaining dollar value of shares that may be repurchased $ 145,200      
2019 Repurchase Program        
Class of Stock [Line Items]        
Stock repurchased during period (in shares)   588,108 59,099 459,899
Stock repurchased during period, value   $ 41,400 $ 4,500 $ 26,500
Cumulative amount of shares repurchased (in shares)   2,344,804    
Cumulative payments for repurchase of common stock   $ 175,800