Stock-Based Compensation - Summary of Performance Stock Units (Details) - Performance Stock Units - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Payout percentage, assumption	100.00%
No. of PSUs
Nonvested, beginning of period (in shares)	128
Granted (in shares)	149
Vested (in shares)	(131)
Forfeited (in shares)	(35)
Performance adjustment (in shares)	65
Nonvested, end of period (in shares)	176	128
Weighted Average Grant Date Fair Value ($)
Nonvested restricted stock units, beginning of period (in dollars per share)	$ 43.63
Granted (in dollars per share)	44.20	$ 55.02	$ 32.82
Vested (in dollars per share)	32.82
Forfeited (in dollars per share)	45.78
Performance adjustment (in dollars per share)	32.82
Nonvested restricted stock units, end of period (in dollars per share)	$ 47.71	$ 43.63
Performance target	200.00%
Performance period	3 years