Stock Plans and Stock-Based Compensation - Summary of RSU and PSU Activity (Details) - Restricted Stock Units and Performance-Based Restricted Stock Units	3 Months Ended
	Mar. 31, 2024 shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Shares, Outstanding, Beginning Balance	3,069,904
Number of Shares, Granted	349,987
Number of Shares, Vested	(301,591)
Number of Shares, Forfeited	(125,848)
Number of Shares, Outstanding, Ending Balance	2,992,452