Stock-Based Compensation - Additional Information (Details) - USD ($)		12 Months Ended
		Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Cash received from stock option exercises		$ 7,800,000	$ 3,000,000	$ 7,700,000
Cash used for shares withheld to satisfy employee tax obligations for RSUs and PRSUs converted		$ 3,200,000	2,100,000	$ 1,800,000
Shares authorized for future grant under stock plan (in shares)		2,800,000
Employee Stock Option
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]	$ 1,200,000	$ 1,700,000
Employee Stock Option | Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Period over which unrecognized compensation costs will be recognized		1 year
Employee Stock Option | Maximum [Member]
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		500,000	500,000	500,000	500,000
Unrecognized compensation cost		$ 6,000,000
RSUs | Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Period over which unrecognized compensation costs will be recognized		1 year
RSUs | Maximum [Member]
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		444,572	400,000	400,000	300,000
Unrecognized compensation cost		$ 1,900,000
Performance period		3 years
Shares authorized for issuance under stock plan		3,300,000
PRSUs | Minimum [Member]
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 [Member]
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)		73,809	74,664	28,620
2013 incentive stock plans
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares outstanding		446,265

[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.