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Stockholders' Equity - Number and Cost of Employee Stock Plan Repurchases (Details) - USD ($)
shares in Thousands, $ in Thousands
9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Equity [Abstract]    
Repurchases related to employee stock plans (in shares) 253 284
Repurchases related to employee stock plans $ 19,654 $ 12,203