Question: What midsize car produced by Mazda since 2002 was was a competitor to the Subaru Legacy?

Context paragraphs:
Ford CD3 platform: The Ford CD3 platform (for "C/D-class") is a Ford midsize car automobile platform.  It was designed by Mazda.  The original Mazda chassis code for the CD3 platform is Mazda G platform, which Ford Motor Company has used every evolution of since 1983.  The platform is designed for either front, all-wheel drive or Ford's hybrid powertrain.

Subaru Legacy (first generation): The first generation Subaru Legacy is a mid-size family car / wagon developed by Fuji Heavy Industries.  The Legacy was an all new model, and was considered a notable departure from Subaru products in the past.

Mazda 717C: The Mazda 717C is a prototype racing car built for Mazdaspeed for the 24 Hours of Le Mans under the Group C Junior formula.  It was the first sportscar built by Mazda since the ending of their running in GT with the RX-7 in 1982.  It used a 2-rotor "13B" Wankel engine, similar to the production engine in the Mazda RX-7.  The bodywork and chassis were actually built by Mooncraft with assistance from Mazda.

Mazda Taiki: The Mazda Taiki is a one-off concept car produced by Mazda, and is the fourth car in Mazda's 'Nagare' design series.  Mazda says the Taiki "reflects one possible direction for a future generation of Mazda sports cars aimed at helping to create a sustainable society".

Mazda6: The Mazda 6 or Mazda6 (known as the Mazda Atenza in China and Japan, derived from the Italian "attenzione") is a Midsize family produced by the Japanese car manufacturer Mazda since 2002.  It replaced the long-produced Mazda Capella (616, 626) in 2002.  The Mazda6 sold more than one million units faster than all previous Mazdas.

Subaru Outback: The Subaru Outback is an automotive nameplate used by the Japanese automobile manufacturer Fuji Heavy Industries (FHI) since 1994.  The "Outback" name has been utilized on two different Subaru branded vehicles.  One of these models is based on the mid-sized Subaru Legacy and the other derived from the hatchback version of the Subaru Impreza.  The model is named after the vast, remote, and arid outback regions in Australia; the name is intended to emphasize the moderate off-road capability of the vehicle, while also giving a nod to the original design, which had a larger trunk "out back" than the Legacy.

Subaru Stella: The Subaru Stella is a 5-door Kei car produced by Subaru starting in June 2006.  The Stella is based on the same architecture as the Subaru R2.  It can be considered as a direct replacement of the Subaru Pleo although the Pleo is still currently in production, and is Subaru's re-entry into the market segment dominated by the Suzuki Wagon R and the Daihatsu Move, hoping to recapture market share after the R2's less-than-expected sales performance.  The Stella's dimensions are more parking structure-friendly where vehicle stacking is utilized over the Pleo.

Subaru Tribeca: The Subaru Tribeca is a mid-size crossover SUV sold since 2005 by Subaru.  Released in some markets, including Canada, as the Subaru B9 Tribeca, the name "Tribeca" derives from the Tribeca neighborhood of New York City.  Built on the Subaru Legacy platform and sold in five- and seven-seat configurations, the Tribeca was intended to be sold alongside a slightly revised version known as the Saab 9-6.  Saab, at the time a subsidiary of General Motors (GM), abandoned the 9-6 program just prior to its release subsequent to GM's 2005 divestiture of its 20 percent stake in FHI.

Subaru Legacy: The Subaru Legacy is a mid-size car built by Japanese automobile manufacturer Subaru since 1989.  Part of the original design goals for the Legacy model was to provide Subaru a vehicle in which they could compete in the lucrative North American midsize market against competitors Honda Accord, Toyota Camry, Mazda6, and Nissan Altima.  Higher performance variants of the Legacy are offered as competitive alternatives to compact executive cars such as the Audi A4, Alfa Romeo 159 and BMW 3 Series.  The Legacy also serves as Subaru's flagship car.

Ford CDW27 platform: The Ford CDW27 platform was Ford's midsize car automobile platform from 1993 to 2006, It was co-designed by Ford and Mazda and was designed to be used as its 'World Car' platform.  The platform was developed over six years and at a huge expense totalling $6 billion, but was expected to save 25% compared to developing separate models for Europe and North America The design is based on Mazda's GE platform, used by the Mazda Cronos/626

Supporting paragraphs: Subaru Legacy Mazda6
Answer: Mazda6