Stock-Based Compensation - Stock Option Activity (Details) - Stock options - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Number of Shares
Balance at the beginning of the period (in shares)	8,676,329	7,751,789	7,174,319
Options granted (in shares)	2,135,233	1,827,234	1,679,324
Options forfeited (in shares)	(533,435)	(382,454)	(243,384)
Options exercised (in shares)	(195,485)	(520,240)	(858,470)
Balance at the end of the period (in shares)	10,082,642	8,676,329	7,751,789	7,174,319
Options vested and expected to vest (in shares)	10,082,642
Exercisable (in shares)	6,679,948	5,576,430	4,668,179
Weighted-Average Exercise Price (Per Share)
Balance at the beginning of the period (in dollars per share)	$ 29.11	$ 26.23	$ 24.03
Options granted (in dollars per share)	29.45	41.22	33.08
Options forfeited (in dollars per share)	34.09	36.15	32.93
Options exercised (in dollars per share)	18.46	23.61	19.36
Balance at the end of the period (in dollars per share)	29.12	29.11	26.23	$ 24.03
Options vested and expected to vest (in dollars per share)	29.12
Exercisable (in dollars per share)	$ 26.99	$ 24.15	$ 21.75
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]
Weighted-average remaining contractual term, balance outstanding	6 years 3 months 18 days	6 years 7 months 24 days	7 years	7 years 3 months 25 days
Weighted-average remaining contractual term, options vested and expected to vest	6 years 3 months 18 days
Weighted-average remaining contractual term, exercisable	5 years 1 month 6 days
Aggregate intrinsic value, balance outstanding	$ 27,141	$ 100,057	$ 134,941	$ 79,116
Aggregate intrinsic value, options vested and expected to vest	27,141
Aggregate intrinsic value, exercisable	26,979
Intrinsic value of options exercised	$ 1,600	$ 9,200	$ 16,300