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Earnings (Loss) Per Share - Antidilutive Effect on Weighted Average Shares (Details) - shares
shares in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Employee equity incentive plans        
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]        
Antidilutive securities excluded from computation of earnings per share (in shares) 4,183 3,997 4,001 4,003