Stock Plans and Share-Based Compensation - Roll-Forward of Activity for Performance Share Units (Details) - Performance Shares - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Units
Unvested balance at beginning of period (in shares)	2,000
Granted (in shares)	500	1,400	300
Target Award Adjustment (in units)	100
Vested (in shares)	(400)
Forfeited (in shares)	(100)
Unvested balance at end of period (in shares)	2,100	2,000
Weighted- Average Grant-Date Fair Value
Unvested balance at beginning of period (in dollars per share)	$ 27.00
Granted (in dollars per share)	34.68	$ 30.35	$ 19.66
Target Award Adjustment (in dollars per unit)	16.60
Vested (in dollars per share)	16.28
Forfeited (in dollars per share)	28.42
Unvested balance at end of period (in dollars per share)	$ 30.24	$ 27.00
Shares awarded as a percentage of granted	100.00%