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Stock-Based Compensation - Additional Information (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Cash received from stock option exercises $ 3,000,000.0 $ 7,700,000 $ 3,300,000  
Cash used for shares withheld to satisfy employee tax obligations for RSUs and PRSUs converted   2,100,000 $ 1,800,000 $ 7,700,000
Shares authorized for future grant under stock plan (in shares) 3,000,000.0      
Non-qualified stock options        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Options vesting period 3 years      
Options expiration period 10 years      
Period of historical option activity considered to determine expected option life 10 years      
Unrecognized compensation cost [1] $ 1,700,000 $ 2,700,000    
Non-qualified stock options | Minimum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Period over which unrecognized compensation costs will be recognized 1 year      
Non-qualified stock options | Maximum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Period over which unrecognized compensation costs will be recognized 3 years      
RSUs        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of shares outstanding 479,497 500,000 500,000 400,000
Unrecognized compensation cost $ 5,700,000      
RSUs | Minimum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Period over which unrecognized compensation costs will be recognized 1 year      
RSUs | Maximum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Period over which unrecognized compensation costs will be recognized 3 years      
PRSUs        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of shares outstanding 423,738 400,000 300,000 300,000
Unrecognized compensation cost $ 2,300,000      
Performance period 3 years      
Shares authorized for issuance under stock plan 3,300,000      
PRSUs | Minimum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Period over which unrecognized compensation costs will be recognized 1 year      
Performance period 3 years      
PRSUs | Maximum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Period over which unrecognized compensation costs will be recognized 3 years      
Employee stock purchase plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Maximum contribution by eligible employees as percentage of base earnings (as a percent) 10.00%      
Maximum contribution by eligible employees in a calendar year $ 25,000      
Common stock purchase price as percentage of fair market value (as a percent) 85.00%      
Shares purchased under employee stock purchase plan (in shares) 74,664 28,620 35,000  
[1] Unrecognized compensation cost relates to non-vested stock options and is expected to be recognized over the remaining vesting period ranging from one year to three years.