Stock Plans and Stock-Based Compensation - Restricted Stock Units - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	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	$ 13,449
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation, number of stock unit grants in period	234,987
Stock-based compensation expense	$ 10,000	$ 10,500
Number of stock units vested	282,372
Weighted-average grant date fair values of units granted	$ 34.01	$ 32.86
Fair values of stock units	$ 11,300	$ 11,200
Unrecognized compensation expense	$ 58,400
Weighted-average amortization period	1 year 11 months 23 days