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Employee Stock Plans (Tables)
 3 Months Ended
Mar. 31, 2024
Share-Based Payment Arrangement [Abstract]  
Schedule of Stock-Based Compensation Awards
Compensation expense for stock-based awards recognized during the three months ended March 31, 2024 and 2023 was as follows (in thousands):
Three Months Ended
March 31,
20242023
Stock options$— $768 
Restricted stock units and awards1,351 1,259 
Performance share units1,287 1,804 
Total stock-based compensation expense$2,638 $3,831 
Schedule of Stock Options, Restricted Stock Units and Awards, and Performance Share Units Activity
The following table presents our restricted stock units and awards activity during the three months ended March 31, 2024 (in thousands, except per share data):
Restricted Stock Units and Awards
Number of
Shares
Weighted Average
Grant-Date
Fair Value (1)
Outstanding at beginning of year223 $41.19 
Granted76 $65.53 
Exercised or released(102)$36.50 
Expired or canceled(3)$38.52 
Outstanding at March 31, 2024194 $53.14 
Exercisable at March 31, 2024
(1)Represents weighted average market value of the shares; awards are granted at no cost to the recipients.
The following table presents our PSUs activity during the three months ended March 31, 2024 (in thousands, except per share data):
Performance
Share Units
Weighted
Average
Grant-Date
Fair Value
Per Unit (1)
Outstanding at beginning of year464 $33.84 
Granted70 $66.07 
Vested(273)$27.51 
Canceled(7)$39.09 
Outstanding at March 31, 2024254 $49.42 
(1)Represents weighted average market value of the performance share units; PSUs are granted at no cost to the recipients.