Stock Plans and Share-Based Compensation - Outstanding Restricted Stock Units and Award (Details) - Stock Options shares in Thousands	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Units Outstanding
Unvested at December 31, 2022 (in shares) | shares	1,552
Granted (in shares) | shares	880
Forfeited (in shares) | shares	(100)
Vested (in shares) | shares	(303)
Unvested at December 31, 2023 (in shares) | shares	2,029
Weighted-Average Fair Value at Grant Date
Unvested at December 31, 2022 (in dollars per share) | $ / shares	$ 31.68
Granted (in dollars per share) | $ / shares	31.46
Forfeited (in dollars per share) | $ / shares	31.92
Vested (in dollars per share) | $ / shares	27.49
Unvested at December 31, 2023 (in dollars per share) | $ / shares	$ 31.70