Stock-Based Compensation - Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Number of Options
Outstanding at beginning of the year (in shares)	782	800	774
Granted (in shares)	235	139	80
Exercised (in shares)	0	(80)	(54)
Forfeited/canceled/expired (in shares)	(116)	(77)	0
Outstanding at end of the year (in shares)	901	782	800
Vested and expected to vest at the end of the year (in shares)	901	782	800
Exercisable at the end of the year (in shares)	620	600	656
Weighted-Average Exercise Price
Outstanding at beginning of the year (in dollars per share)	$ 44.16	$ 45.55	$ 43.01
Granted (in dollars per share)	24.77	33.42	59.43
Exercised (in dollars per share)	0	19.25	30.04
Forfeited/canceled/expired (in dollars per share)	46.59	64.81	0
Outstanding at end of the year (in dollars per share)	38.78	44.16	45.55
Vested and expected to vest at the end of the year (in dollars per share)	38.78	44.16	45.55
Exercisable at the end of the year (in dollars per share)	$ 44.06	$ 45.77	$ 44.08
Weighted-Average Remaining Contractual Term and Aggregate Intrinsic Value
Outstanding at end of the year	3 years 8 months 1 day	3 years 5 months 12 days	3 years 1 month 24 days
Vested and expected to vest at the end of the year	3 years 8 months 1 day	3 years 5 months 12 days	3 years 1 month 24 days
Exercisable at the end of the year	2 years 7 months 6 days	2 years 7 months 9 days	2 years 6 months 29 days
Exercised	$ 0	$ 292	$ 931
Outstanding at end of the year	0	0	3,780
Vested and expected to vest at the end of the year	0	0	3,780
Exercisable at the end of the year	$ 0	$ 0	$ 3,608