Stock Plans and Stock-Based Compensation - Performance-Based Restricted Stock Units - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	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	$ 6,084
Performance-Based Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation, number of stock unit grants in period	330,129
Share price	$ 34.13
Stock-based compensation expense	$ 2,600	$ (1,400)
Weighted-average grant date fair values of units granted	$ 34.13	$ 38.79
Number of stock units vested	2,544
Unrecognized compensation expense	$ 15,200
Weighted-average amortization period	1 year 11 months 1 day
Performance-Based Restricted Stock Units \| Share-based Payment Arrangement, Tranche One
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation, compounded annual growth measurement period	2 years
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
Performance-Based Restricted Stock Units \| Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation, vesting stock percentage	0.00%	0.00%
Performance-Based Restricted Stock Units \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation, vesting stock percentage	125.00%	150.00%

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

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Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Price of a single share of a number of saleable stocks of a company.

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Percentage of vesting of award under share-based payment arrangement.

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