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Treasury Stock - Repurchased Shares of Common Stock (Details) - USD ($) shares in Thousands, $ in Thousands	12 Months Ended
	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