Stock Plans and Stock-Based Compensation - Summary of RSU and PSU Activity (Details) - Restricted Stock Units and Performance-Based Restricted Stock Units	6 Months Ended
	Jun. 30, 2023 shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Shares, Outstanding, Beginning Balance	3,233,298
Number of Shares, Granted	1,406,743
Number of Shares, Vested	(495,977)
Number of Shares, Forfeited	(142,592)
Number of Shares, Outstanding, Ending Balance	4,001,472