Stock Plans and Stock-Based Compensation - Market-Based Grants - Additional Information (Details) - Market Based Grants - 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]
Fair values of stock units			$ 4,000	$ 300,000
Stock-based compensation (credit) expense	$ (100,000)	$ 300,000	(200,000)	$ 300,000
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Cash payment at settlement			0
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Cash payment at settlement			$ 1,300,000