Employee Stock Purchase and Stock Incentive Plans - Summary of Activity of Restricted Shares Subject to Forfeiture (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Number of shares
Granted (in shares)	734,042
Vested (in shares)	(2,412,758)
Restricted Shares
Number of shares
Beginning balance (in shares)	1,837,309	2,218,283
Granted (in shares)	734,042	456,418
Vested (in shares)	(816,837)	(824,678)
Cancelled (in shares)	(34,895)	(12,714)
Ending balance (in shares)	1,719,619	1,837,309
Weighted Average Grant Price
Beginning balance (in dollars per share)	$ 14.33	$ 13.74
Granted (in dollars per share)	28.91	16.47
Vested (in dollars per share)	12.54	13.92
Cancelled (in dollars per share)	20.71	15.10
Ending balance (in dollars per share)	$ 18.78	$ 14.33