Stock Plans and Stock-Based Compensation - Performance-Based Restricted Stock Units - Additional Information (Details)		12 Months Ended
	Feb. 09, 2022 Grantee $ / shares	Dec. 31, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense		$ 48,889,000	$ 47,620,000	$ 44,095,000
Performance-Based Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of grantees affected | Grantee	785
Incremental stock-based compensation cost		17,500,000
Share-based compensation, number of stock unit grants in period | shares			337,639
Stock-based compensation expense		$ 4,000,000.0	$ 4,700,000	$ 13,000,000.0
Weighted-average grant date fair values of units granted | $ / shares	$ 55.31	$ 34.09	$ 35.27	$ 123.94
Number of stock units vested | shares		92,834
Unrecognized compensation expense		$ 5,300,000
Weighted-average amortization period		1 year 6 months
Performance-Based Restricted Stock Units | Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation, thresholds percentage of revenue growth	1.00%
Share-based compensation, vesting stock percentage		0.00%	0.00%
Share price | $ / shares		$ 32.31
Performance-Based Restricted Stock Units | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation, thresholds percentage of revenue growth	40.00%
Share-based compensation, vesting stock percentage		125.00%	150.00%
Share price | $ / shares		$ 34.13
Stock Options and Restricted Stock Units and Performance-Based Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Tax benefits realized from share based compensation		$ 0	$ 0	$ 0