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Stockholders' Equity - Number and Cost of Employee Stock Plan Repurchases (Details) - USD ($)
shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Equity [Abstract]      
Repurchases related to employee stock plans (in shares) 331 362 347
Repurchases related to employee stock plans $ 25,868 $ 37,678 $ 29,817