Consolidated Balance Sheets (Parenthetical) - $ / shares	Dec. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Common stock, par value (in dollars per share)	$ 0.00001	$ 0.00001
Common stock, shares authorized (in shares)	600,000,000	600,000,000
Common stock, shares issued (in shares)	173,949,011	170,638,525
Common stock, shares outstanding (in shares)	145,508,549	142,930,598
Treasury stock, common, shares (in shares)	28,440,462	27,707,927