Stock Plans and Stock-Based Compensation - Stock Options - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 48,889,000	$ 47,620,000	$ 44,095,000
Intrinsic value of options exercised	1,100,000	200,000	12,700,000
Intrinsic value of all outstanding options	100,000	1,200,000	6,900,000
Total unrecognized compensation cost	0
Proceeds from stock option exercises	$ 1,319,000	144,000	3,113,000
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-based compensation expense	$ 0	$ 100,000	$ 1,200,000
Stock options granted	0	0