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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2022
Dec. 31, 2021
Statement of Financial Position [Abstract]    
Common stock, par value (in dollars per share) $ 0.00001 $ 0.00001
Common stock, shares authorized (in shares) 400,000,000 400,000,000
Common stock, shares, issued (in shares) 159,392,185 158,662,208
Common stock, shares, outstanding (in shares) 107,995,262 121,883,649
Treasury stock, shares (in shares) 51,396,923 36,828,559