Summary of Significant Accounting Policies - Recently Issued Accounting Pronouncements (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Jan. 01, 2022	Dec. 31, 2021
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Stockholders' equity	$ 912,191	$ 919,908	$ 912,150	$ 886,204	$ 852,798	$ 841,434	$ 828,446		$ 815,851
Accounting Standards Update 2020-06
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Long-term debt								$ 20,600
Net deferred tax liabilities								(5,000)
Cumulative effect of adoption of ASU 2020-06
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Stockholders' equity									(15,600)
Retained Earnings
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Stockholders' equity	481,386	497,362	498,193	481,245	455,764	454,015	446,150		379,922
Retained Earnings | Cumulative effect of adoption of ASU 2020-06
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Stockholders' equity									40,612
Retained Earnings | Cumulative effect of adoption of ASU 2020-06 | Accounting Standards Update 2020-06
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Stockholders' equity								40,600
Additional  Paid-in Capital
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Stockholders' equity	$ 431,956	$ 424,266	$ 416,232	$ 408,115	$ 401,026	$ 389,586	$ 383,016		434,337
Additional  Paid-in Capital | Cumulative effect of adoption of ASU 2020-06
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Stockholders' equity									$ (56,212)
Additional  Paid-in Capital | Cumulative effect of adoption of ASU 2020-06 | Accounting Standards Update 2020-06
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Stockholders' equity								$ (56,200)