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CONDENSED CONSOLIDATED STATEMENTS OF CHANGES IN STOCKHOLDERS' EQUITY (Parenthetical) - shares
3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Statement of Stockholders' Equity [Abstract]        
Restricted stock unit vested (in shares) 64,699 87,054 597,221 416,289
Performance-based awards (in shares)     85,703 106,419
Employee stock purchase plan (in shares)     112,800  
Share repurchases (in shares) 341,456   1,253,007 1,161,017