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Stockholders' Equity - Schedule of Number and Cost of Employee Stock Plan Repurchases (Details) - USD ($)
shares in Thousands, $ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Equity [Abstract]    
Repurchases related to employee stock plans (in shares) 267 282
Repurchases related to employee stock plans $ 21,168 $ 21,680