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Treasury Stock - Repurchased Shares of Common Stock (Details) - USD ($) shares in Thousands, $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2024 | Mar. 31, 2024 | Jun. 30, 2023 | Mar. 31, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |
Number of shares repurchased (in shares) |  |  |  |  | 195 | 58
Total cost of shares repurchased | $ 611 | $ 1,230 | $ 43 | $ 812 | $ 1,841 | $ 855
Open market shares repurchased |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |
Number of shares repurchased (in shares) |  |  |  |  | 122 | 0
Total cost of shares repurchased |  |  |  |  | $ 1,109 | $ 0
Stock-based compensation related shares repurchased |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |
Number of shares repurchased (in shares) |  |  |  |  | 73 | 58
Total cost of shares repurchased |  |  |  |  | $ 732 | $ 855

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