Stock Plans and Stock-Based Compensation - Performance-Based Restricted Stock Units - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	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	$ 16,211	$ 29,579	$ 22,295
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			337,639
Stock-based compensation expense	3,800	$ 3,600	$ 6,400	$ 2,200
Weighted-average grant date fair values of units granted			$ 34.09	$ 39.76
Number of stock units vested			22,999
Unrecognized compensation expense	$ 13,500		$ 13,500
Weighted-average amortization period			1 year 9 months 7 days
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%
Share price	$ 32.31		$ 32.31
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%
Share price	$ 34.13		$ 34.13