Long-Term Incentive Plans - Schedule of Authorized Shares that Remain Available for Issuance (Details)	Dec. 31, 2023 shares
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total authorized awards (in shares)	10,950,000
Total authorized but not issued shares (in shares)	4,070,746
Stock options | 2020 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total authorized awards (in shares)	6,950,000
Total authorized but not issued shares (in shares)	3,822,733
Stock options | 2011 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total authorized awards (in shares)	4,000,000
Total authorized but not issued shares (in shares)	248,013
Stock Awards
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total authorized awards (in shares)	4,380,000
Total authorized but not issued shares (in shares)	1,628,298
Stock Awards | 2020 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total authorized awards (in shares)	2,780,000
Total authorized but not issued shares (in shares)	1,529,093
Stock Awards | 2011 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total authorized awards (in shares)	1,600,000
Total authorized but not issued shares (in shares)	99,205