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Treasury Stock - Repurchased Shares of Common Stock (Details) - USD ($) shares in Thousands, $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | Sep. 30, 2022 | Jun. 30, 2022 | Mar. 31, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |  |
Number of shares repurchased (in shares) |  |  |  |  |  |  | 61 | 358
Total cost of shares repurchased | $ 33 | $ 43 | $ 812 | $ 86 | $ 3,857 | $ 7,354 | $ 888 | $ 11,297
Open market shares repurchased |  |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |  |
Number of shares repurchased (in shares) |  |  |  |  |  |  | 0 | 300
Total cost of shares repurchased |  |  |  |  |  |  | $ 0 | $ 9,438
Stock-based compensation related shares repurchased |  |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |  |
Number of shares repurchased (in shares) |  |  |  |  |  |  | 61 | 58
Total cost of shares repurchased |  |  |  |  |  |  | $ 888 | $ 1,859

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