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Stock Plans and Stock-Based Compensation - Performance-Based Restricted Stock Units - Additional Information (Details)
12 Months Ended
Feb. 09, 2022
Grantee
$ / shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
Dec. 31, 2020
USD ($)
$ / shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense   $ 47,620,000 $ 44,095,000 $ 46,755,000
Performance-Based Restricted Stock Units        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of grantees affected | Grantee 785      
Incremental stock-based compensation cost   $ 17,500,000    
Share-based compensation, number of stock unit grants in period | shares   720,064    
Stock-based compensation expense   $ 4,700,000 $ 13,000,000.0 $ 21,800,000
Weighted-average grant date fair values of units granted | $ / shares $ 55.31 $ 35.27 $ 123.94 $ 119.78
Number of stock units vested | shares   157,819    
Unrecognized compensation expense   $ 11,400,000    
Weighted-average amortization period   1 year 7 months 24 days    
Performance-Based Restricted Stock Units | Minimum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share-based compensation, thresholds percentage of revenue growth 1.00% 20.00%   15.00%
Share Price | $ / shares   $ 25.50    
Performance-Based Restricted Stock Units | Maximum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share-based compensation, thresholds percentage of revenue growth 40.00% 40.00%   35.00%
Share Price | $ / shares   $ 55.31    
Performance-Based Restricted Stock Units | Tranche One        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share-based compensation, compounded annual growth measurement period   2 years    
Share-based compensation, vesting stock percentage   50.00%    
Performance-Based Restricted Stock Units | Tranche Two        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share-based compensation, compounded annual growth measurement period   3 years    
Stock Options and Restricted Stock Units and Performance-Based Restricted Stock Units        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Tax benefits realized from share based compensation   $ 0 $ 0 $ 0