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Stock-based Compensation - Unvested Restricted Stock Units Activity (Details) - Restricted Stock Units (RSUs)
3 Months Ended
Mar. 31, 2023
$ / shares
shares
Unvested Restricted Stock Units, Number of Shares  
Unvested at the beginning of the period (in shares) | shares 1,514,875
Granted (in shares) | shares 680,338
Vested (in shares) | shares (198,437)
Forfeited/canceled (in shares) | shares (373,567)
Unvested at the end of the period (in shares) | shares 1,623,209
Expected to vest after the end of the period (in shares) | shares 1,773,653
Unvested Restricted Stock Units, Weighted-Average Grant-Date Fair Value  
Unvested at the beginning of the period (in dollars per share) | $ / shares $ 45.90
Granted (in dollars per share) | $ / shares 44.98
Vested (in dollars per share) | $ / shares 45.09
Forfeited/canceled (in dollars per share) | $ / shares 42.43
Unvested at the end of the period (in dollars per share) | $ / shares 46.42
Expected to vest after the end of the period (in dollars per share) | $ / shares $ 46.16