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Treasury Stock - Repurchased Shares of Common Stock (Details) - USD ($) shares in Thousands, $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Equity, Class of Treasury Stock [Line Items] |  |  |
Total shares repurchased (in shares) | 434 | 1,243 | 444
Total cost of shares repurchased | $ 13,035 | $ 59,664 | $ 17,678
Open market shares repurchased |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Total shares repurchased (in shares) | 300 | 1,151 | 325
Total cost of shares repurchased | $ 9,437 | $ 54,868 | $ 11,851
Stock-based compensation related shares repurchased |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Total shares repurchased (in shares) | 134 | 92 | 119
Total cost of shares repurchased | $ 3,598 | $ 4,796 | $ 5,827

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