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Stockholders’ Equity and Stock-Based Compensation - Performance Share Program (Details) - Performance Share Program II
3 Months Ended
Mar. 31, 2024
period
shares
Mar. 31, 2023
shares
Restricted Stock Units (RSUs)    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Awards granted (in shares) | shares 0 461,747
Performance Shares    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Number of annual award performance periods | period 3  
Service period 1 year  
Vesting period 3 years  
Performance Shares | Minimum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Percentage of award which can potentially be earned 0.00%  
Performance Shares | Maximum    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Percentage of award which can potentially be earned 150.00%