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Share-Based Compensation - Common Stock Issued to Non-employee Directors (Details) - USD ($) shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restricted Stock Units
Share-based compensation
Awards issued (in shares)	683	401	317
Grant date fair value of awards issued (in dollars per share)	$ 4,269	$ 2,524	$ 3,434
Non-employee directors | Common Stock
Share-based compensation
Awards issued (in shares)	133	70	51
Grant date fair value of awards issued (in dollars per share)	$ 750	$ 450	$ 525

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Fair value of share-based awards for which the grantee gained the right by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash.

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