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Stock Plans - Schedule of Stock Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Share-Based Payment Arrangement [Abstract]    
Stock compensation expense $ 6,270 $ 3,730
Income tax benefit 1,536 914
Stock compensation expense, net of tax $ 4,734 $ 2,816