Stock Plans and Share-Based Compensation - Outstanding Restricted Stock Units and Award (Details) - Restricted Stock Units and Awards shares in Thousands	12 Months Ended
	Dec. 31, 2022 $ / shares shares
Units Outstanding
Unvested at December 31, 2021 (in shares) | shares	1,023
Granted (in shares) | shares	801
Forfeited (in shares) | shares	(54)
Vested (in shares) | shares	(218)
Unvested at December 31, 2022 (in shares) | shares	1,552
Weighted-Average Fair Value at Grant Date
Unvested at December 31, 2021 (in dollars per share) | $ / shares	$ 27.53
Granted (in dollars per share) | $ / shares	34.55
Forfeited (in dollars per share) | $ / shares	29.85
Vested (in dollars per share) | $ / shares	23.33
Unvested at December 31, 2022 (in dollars per share) | $ / shares	$ 31.68