Employee Stock Plans - Schedule of Share-Based Compensation Awards (Before Income Tax Expense) (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-Based Payment Arrangement [Abstract]
Stock options	$ 248	$ 1,291	$ 1,878
Restricted stock units and awards	5,204	5,603	4,960
Performance share units	9,237	4,513	2,031
Total share-based compensation expense	$ 14,689	$ 11,407	$ 8,869