Stock Plans and Stock-Based Compensation - Stock Options - Additional Information (Details) - USD ($)	3 Months Ended
Mar. 31, 2023	Mar. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 13,449,000	$ 6,084,000
Intrinsic value of options exercised	1,100,000
Intrinsic value of all outstanding options	600,000	3,100,000
Unrecognized compensation cost	0
Proceeds from stock option exercises	$ 1,263,000	17,000
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Intrinsic value of options exercised		100,000
Proceeds from stock option exercises		100,000
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 options granted	0
Stock-based compensation expense	$ 0	$ 100,000

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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Amount of cost to be recognized for option under share-based payment arrangement.

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Amount of cash inflow from exercise of option under share-based payment arrangement.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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Gross number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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