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Stock Plans and Stock-Based Compensation - Performance-Based Restricted Stock Units - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense $ 11,412 $ 13,449    
Performance-Based Restricted Stock Units        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share-based compensation, number of stock unit grants in period 115,000      
Stock-based compensation expense $ 1,200 $ 2,600    
Weighted-average grant date fair values of units granted $ 35.1 $ 34.13    
Number of stock units vested 19,219      
Unrecognized compensation expense $ 6,300      
Weighted-average amortization period 1 year 8 months 26 days      
Performance-Based Restricted Stock Units | Share-based Payment Arrangement, Tranche One        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share-based compensation, compounded annual growth measurement period 2 years      
Performance-Based Restricted Stock Units | Tranche Two        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share-based compensation, compounded annual growth measurement period 3 years      
Performance-Based Restricted Stock Units | Minimum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share-based compensation, vesting stock percentage     0.00% 0.00%
Performance-Based Restricted Stock Units | Maximum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share-based compensation, vesting stock percentage     125.00% 150.00%