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Stock-Based Compensation - Stock Based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Share-Based Payment Arrangement [Abstract]        
Stock-based compensation expense $ 7,668 $ 5,148 $ 20,072 $ 19,267