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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, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Equity, Class of Treasury Stock [Line Items] |  |  |
Total shares repurchased (in shares) | 165 | 434 | 1,243
Total cost of shares repurchased | $ 1,779 | $ 13,035 | $ 59,664
Open market shares repurchased |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Total shares repurchased (in shares) | 100 | 300 | 1,151
Total cost of shares repurchased | $ 864 | $ 9,437 | $ 54,868
Stock-based compensation related shares repurchased |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |
Total shares repurchased (in shares) | 65 | 134 | 92
Total cost of shares repurchased | $ 915 | $ 3,598 | $ 4,796

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