Employee Stock Purchase and Stock Incentive Plans - Summary of Status of Stock Options Exercised, Including Substantive Options (Details)	3 Months Ended
	Mar. 31, 2023 $ / shares shares
Number of shares
Outstanding, beginning balance (in shares) | shares	10,030
Granted (in shares) | shares	0
Exercised (in shares) | shares	(1,121)
Expired or cancelled (in shares) | shares	0
Outstanding, ending balance (in shares) | shares	8,909
Weighted Average Exercise Price
Beginning balance (in dollars per share) | $ / shares	$ 5.99
Granted (in dollars per share) | $ / shares	0
Exercised (in dollars per share) | $ / shares	5.95
Expired or cancelled (in dollars per share) | $ / shares	0
Ending balance (in dollars per share) | $ / shares	$ 6.00