Stock Plans and Stock-Based Compensation - Stock Options - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 47,620,000	$ 44,095,000	$ 46,755,000
Intrinsic value of options exercised	200,000	12,700,000	30,600,000
Intrinsic value of all outstanding options	1,200,000	6,900,000	34,500,000
Total unrecognized compensation cost	0
Proceeds from option exercises	$ 144,000	3,113,000	8,160,000
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options vesting period	4 years
Stock options expiration period	10 years
Stock-based compensation expense	$ 100,000	$ 1,200,000	$ 3,500,000
Stock options granted	0	0