Treasury Stock - Repurchased Shares of Common Stock (Details) - USD ($) shares in Thousands, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022
Equity, Class of Treasury Stock [Line Items]
Number of shares repurchased (in shares)							61	358
Total cost of shares repurchased	$ 33	$ 43	$ 812	$ 86	$ 3,857	$ 7,354	$ 888	$ 11,297
Open market shares repurchased
Equity, Class of Treasury Stock [Line Items]
Number of shares repurchased (in shares)							0	300
Total cost of shares repurchased							$ 0	$ 9,438
Stock-based compensation related shares repurchased
Equity, Class of Treasury Stock [Line Items]
Number of shares repurchased (in shares)							61	58
Total cost of shares repurchased							$ 888	$ 1,859