Stock-Based Compensation - Employee Stock Purchase Plan Assumptions (Details) - Employee Stock Purchase Plan	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Weighted-Average Assumptions
Expected term (in years)	6 months	6 months	6 months
Risk-free interest rate, min (as percent)	4.60%	0.60%
Risk-free interest rate, max (as percent)	5.30%	3.10%
Risk-free interest rate (as percent)			0.10%
Expected volatility, min (as percent)	33.90%	45.70%	41.80%
Expected volatility, max (as percent)	57.30%	58.70%	45.00%