Stock Plans and Share-Based Compensation - Stock Option Activities (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Number of Shares
Balance at beginning of period (in shares)	2,000,000.0
Granted (in shares)	0	3,200,000	0
Exercised (in shares)	(100,000)
Forfeited (in shares)	0
Expired (in shares)	0
Balance at end of period (in shares)	1,900,000	2,000,000.0
Vested and expected to vest at end of period (in shares)	1,900,000
Exercisable at end of period (in shares)	1,700,000
Weighted- Average Exercise Price Per Share
Balance at beginning of period (in dollars per share)	$ 26.60
Granted (in dollars per share)	0
Exercised (in dollars per share)	11.87
Forfeited (in dollars per share)	0
Expired (in dollars per share)	0
Balance at end of period (in dollars per share)	26.97	$ 26.60
Vested and expected to vest at end of period (in dollars per share)	26.96
Exercisable at end of period (in dollars per share)	$ 26.30
Weighted- Average Remaining Contractual Term
Outstanding balance at end of period	3 years 8 months 19 days
Vested and expected to vest in the future at end of period	3 years 8 months 19 days
Exercisable at end of period	3 years 5 months 8 days
Aggregate Intrinsic Value
Outstanding balance at end of period	$ 1.9
Vested and expected to vest in the future at end of period	1.9
Exercisable at end of period	$ 1.9
Range of Option Prices, Minimum	$ 6.52
Range of Option Prices, Maximum	$ 35.14