Stock Plans and Stock-Based Compensation - Restricted Stock Units - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	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	$ 47,620	$ 44,095
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation, number of stock unit grants in period	1,287,497
Stock-based compensation expense	$ 43,600	$ 40,900	$ 28,100
Number of stock units vested	1,030,843
Weighted-average grant date fair values of units granted	$ 30.21	$ 39.51	$ 124
Fair values of stock units	$ 48,500	$ 44,900	$ 25,600
Unrecognized compensation expense	$ 64,700
Weighted-average amortization period	1 year 11 months 1 day