Stock Plans and Stock-Based Compensation - Summary of RSU and PSU Activity (Details) - Restricted Stock Units and Performance-Based Restricted Stock Units	12 Months Ended
	Dec. 31, 2023 shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Shares, Outstanding, Beginning Balance	3,233,298
Number of Shares, Granted	1,625,148
Number of Shares, Vested	(1,123,677)
Number of Shares, Forfeited	(664,865)
Number of Shares, Outstanding, Ending Balance	3,069,904