Consolidated Balance Sheets (Parenthetical) - $ / shares	Dec. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Common stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Common stock, shares authorized (in shares)	240,000,000	240,000,000
Common stock, shares issued (in shares)	111,303,660	110,840,751
Common stock, shares outstanding (in shares)	109,263,005	108,941,920
Treasury stock (in shares)	2,040,655	1,898,831