Employee Stock Plans - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	May 10, 2023	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)	50,000	0	50,000
Fair value of stock options granted (in dollars per share)	$ 15.35		$ 8.10
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	$ 800,000		$ 400,000
Aggregate intrinsic value of stock options exercised	15,000,000	$ 19,100,000	13,600,000
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 19 days
Total fair value of shares vested during period	$ 5,100,000	5,600,000	4,900,000
Market value of shares awarded during period	$ 5,300,000	$ 5,000,000	$ 5,000,000
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%
2029 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Additional shares authorized for issuance (in shares)				1,500,000
2019 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share available for future grant (in shares)					4,600,000
2014 Stock Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share available for future grant (in shares)	2,900,000
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%