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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Summary of Restricted Stock Units
The following table summarizes our RSU activity during the year ended December 31, 2023 (RSUs in thousands):
 No. of RSUsWeighted Average Grant Date Fair Value ($)
Nonvested as of December 31, 2022350 $36.27 
Granted484 43.19 
Vested(239)31.57 
Forfeited(31)44.43 
Nonvested as of December 31, 2023564 $43.75 
Summary of Performance Stock Units
The following table summarizes our PSU activity during the year ended December 31, 2023 (PSUs in thousands at their target number of shares, which assumes achievement of 100% of target, unless otherwise noted):
No. of PSUsWeighted Average Grant Date Fair Value ($)
Nonvested as of December 31, 2022128 $43.63 
Granted149 44.20 
Vested (1)
(131)32.82 
Forfeited(35)45.78 
Performance adjustment (2)
65 32.82 
Nonvested as of December 31, 2023176 $47.71 
(1)    Reflects shares vested at 200% of target based on actual ROCE performance upon conclusion of the three-year performance period.
(2)    Represents additional shares issued to participants upon vesting due to the ROCE performance metrics exceeding target upon conclusion of the three-year performance period.