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Stock-Based Compensation - Options (Details) - Stock options - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Number of Shares    
Outstanding, beginning balance (in shares) 4,882  
Options granted (in shares) 958  
Options forfeited (in shares) (19)  
Options cancelled (in shares) (4)  
Options exercised (in shares) (173)  
Outstanding, ending balance (in shares) 5,644  
Options vested and exercisable (in shares) 3,112  
Weighted Average Exercise Price per Share    
Outstanding, beginning balance (in dollars per shares) $ 17.23  
Options granted (in dollars per share) 19.76  
Options forfeited (in dollars per shares) 18.02  
Options cancelled (in dollars per shares) 19.04  
Options exercised (in dollars per shares) 1.50  
Outstanding, end balance (in dollars per shares) 18.14  
Options vested and exercisable (in dollars per shares) $ 15.28  
Options    
Intrinsic value, outstanding $ 36,070  
Intrinsic value, exercised 3,576 $ 0
Intrinsic value, exercisable $ 31,617 $ 41,577
Weighted-average grant-date fair value of options granted (in dollars per share) $ 15.87 $ 12.38
Weighted-average grant-date fair value of options vested (in dollars per share) $ 11.31  
Weighted average remaining contractual life, exercisable 5 years 9 months 18 days  
Weighted average remaining contractual life, outstanding 7 years 3 months 18 days