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Stockholders’ Equity and Equity Incentive Plan - Restricted Stock Units (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Restricted Stock Units        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Total fair value of RSU vested $ 9.1 $ 4.9 $ 25.2 $ 15.7