Stock Plans and Stock-Based Compensation - Stock Options - Additional Information (Details) - USD ($)	3 Months Ended
Mar. 31, 2024	Mar. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense	$ 11,412,000	$ 13,449,000
Intrinsic value of options exercised		1,100,000
Intrinsic value of all outstanding options	$ 400,000	600,000
Nonvested stock options	0
Proceeds from stock option exercises	$ 53,000	1,263,000
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Intrinsic value of options exercised	$ 100,000
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 options granted	0
Stock-based compensation expense	$ 0	$ 0

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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