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Employee Stock Plans - Additional Information (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
May 09, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Price an employee pays for shares as percentage of fair market value 85.00%      
Holding period of stock 1 year      
Stock options granted (in shares) 0 50,000 50,000  
Fair value of stock options granted (in dollars per share)   $ 8.10 $ 5.79  
Stock Option        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Percentage of incremental vesting schedule 25.00%      
Incremental vesting schedule period 4 years      
Options awarded under the plans vesting period 4 years      
Stock options expiry date 6 years      
Weighted-average grant-date fair value of stock options granted   $ 400,000 $ 300,000  
Aggregate intrinsic value of stock options exercised $ 19,100,000 13,600,000 8,900,000  
Restricted stock units and awards        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation cost for restricted stock awards $ 5,200,000      
Compensation cost for non-vested stock options weighted average period 8 months 23 days      
Total fair value of shares vested during period $ 5,600,000 4,900,000 4,600,000  
Market value of shares awarded during period $ 5,000,000 $ 5,000,000 $ 4,300,000  
Performance share units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Options awarded under the plans vesting period 3 years      
Share-based compensation arrangement by share-based payment award, remaining contractual terms 3 years      
Achievement of an earnings per share target 70.00%      
Achievement of total growth in revenue 30.00%      
2019 Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share available for future grant (in shares)       3,100,000
2014 Stock Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share available for future grant (in shares) 1,800,000      
Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Options awarded under the plans vesting period 3 years      
Minimum | Restricted stock units and awards        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Options awarded under the plans vesting period 1 year      
Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
ESPP allows qualified employees to purchase shares of common stock $ 25,000      
Shares purchased under ESPP 2,000,000      
Options awarded under the plans vesting period 4 years      
Maximum | Restricted stock units and awards        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Options awarded under the plans vesting period 4 years      
Maximum | Performance share units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Percentage of initial grant 200.00%