Stock-Based Compensation Plans and Arrangements - Narrative (Details)	12 Months Ended
	Dec. 31, 2023 USD ($) numberOfCompensationPlan shares	Dec. 31, 2022 USD ($) shares	Dec. 31, 2021 USD ($) shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of active stock-based compensation plans | numberOfCompensationPlan	1
Stock-based compensation cost	$ 36,380,000	$ 34,461,000	$ 30,649,000
Unrecognized compensation cost	$ 22,000,000
Weighted average period for total unrecognized compensation cost	1 year 4 months 24 days
Options granted in period (in shares) | shares	0	86,536	998,891
Options granted, exercise price multiplier		100.00%	115.00%
Vesting percentage		100.00%	100.00%
Vesting period			3 years
Expiration period		10 years	10 years
Offering period of employee stock purchase plan	12 months
Maximum contribution amount per employee to ESPP	$ 7,500
Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares authorized to be issued under plan (in shares) | shares	14,000,000
Unrecognized compensation cost	$ 1,000,000
Percentage of discount available to employees under ESPP	15.00%
Vesting period	1 year
Company's common stock purchased by ESPP participants (in shares) | shares	195,000	0	496,000
Performance Vesting Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period	3 years
Restricted Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation cost	$ 600,000
Weighted average period for total unrecognized compensation cost	6 months
Vesting period	1 year
Restricted Stock Units (RSUs)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period	3 years
2021 Omnibus Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares authorized to be issued under plan (in shares) | shares	16,000,000