Stock Plans and Stock-Based Compensation - Stock Options - Additional Information (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 16,130,000	$ 16,211,000	$ 29,579,000	$ 22,295,000
Intrinsic value of options exercised			1,100,000
Intrinsic value of all outstanding options	$ 200,000	$ 1,100,000	$ 200,000	1,100,000
Nonvested stock options	0		0
Proceeds from stock option exercises			$ 1,275,000	82,000
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