Employee Stock Purchase and Stock Incentive Plans - Summary of Status of Stock Options Exercised, Including Substantive Options (Details)	6 Months Ended
	Jun. 30, 2024 $ / shares shares
Number of shares
Outstanding, beginning balance (in shares) | shares	5,133
Granted (in shares) | shares	0
Exercised (in shares) | shares	(2,508)
Expired or cancelled (in shares) | shares	0
Outstanding, ending balance (in shares) | shares	2,625
Weighted Average Exercise Price
Beginning balance (in dollars per share) | $ / shares	$ 6.02
Granted (in dollars per share) | $ / shares	0
Exercised (in dollars per share) | $ / shares	5.99
Expired or cancelled (in dollars per share) | $ / shares	0
Ending balance (in dollars per share) | $ / shares	$ 6.05