Stock Plans and Stock-Based Compensation - Market-Based Grants - Additional Information (Details) - Market Based Grants - USD ($)	3 Months Ended		9 Months Ended		12 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Cash payment at settlement			$ 0
Fair values of stock units					$ 400,000
Stock-based compensation (credit) expense			(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
Stock-based compensation (credit) expense	$ (100,000)	$ 100,000