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Equity - Schedule of Option Activity Under Stock Plans (Details) - Common stock options - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Stock Options      
Outstanding, beginning balance (in shares) 226    
Granted (in shares) 0    
Exercised (in shares) 0    
Cancelled (in shares) (8)    
Outstanding, ending balance (in shares) 218 226  
Vested and expected to vest (in shares) 194    
Exercisable (in shares) 74    
Weighted Average Exercise Price      
Outstanding, beginning balance, weighted average exercise price (in dollars per share) $ 39.07    
Granted, weighted average exercise price (in dollars per share) 0    
Exercised, weighted average exercise price (in dollars per share)    
Forfeited, weighted average exercise price (in dollars per share) 23.34    
Outstanding, ending balance, weighted average exercise price (in dollars per share) 39.65 $ 39.07  
Vested and expected to vest, weighted average exercise price (in dollars per share) 39.48    
Exercisable, weighted average exercise price (in dollars per share) $ 36.98    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]      
Weighted-average remaining contractual life (years), balance outstanding 4 years 6 months 5 years 3 months 18 days  
Weighted-average remaining contractual life (years), vested and expected to Vest 4 years 6 months    
Weighted-average remaining contractual life (years), exercisable 4 years    
Aggregate intrinsic value, balance outstanding $ 0 $ 0  
Aggregate intrinsic value, vested and expected to vest 0    
Aggregate intrinsic value, exercisable 0    
Weighted average fair value of options granted (in dollars per share)     $ 41.03
Total fair value of options vested $ 534 835 $ 797
Intrinsic value of options exercised   $ 694 $ 5,182