Equity Incentive Plans - Options by Exercise Price (Details)	12 Months Ended
	Dec. 31, 2022 $ / shares shares
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Options outstanding, number outstanding (in shares) | shares	1,885,000
Options outstanding, Wtd. Avg. remaining contractual life	5 years 11 months 4 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share)	$ 18.03
Options exercisable, Number exercisable (in shares) | shares	1,200
Options exercisable Wtd. Avg. Remaining Contractual Life	4 years 7 months 17 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share)	$ 22.94
0-18.23
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Lower range limit, Exercise price (in dollars per share)	0
Upper range limit, Exercise price (in dollars per share)	$ 18.23
Options outstanding, number outstanding (in shares) | shares	849,000
Options outstanding, Wtd. Avg. remaining contractual life	8 years 1 month 9 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share)	$ 9.46
Options exercisable, Number exercisable (in shares) | shares	214
Options exercisable Wtd. Avg. Remaining Contractual Life	7 years 3 months 29 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share)	$ 12.58
18.24-22.26
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Lower range limit, Exercise price (in dollars per share)	18.24
Upper range limit, Exercise price (in dollars per share)	$ 22.26
Options outstanding, number outstanding (in shares) | shares	439,000
Options outstanding, Wtd. Avg. remaining contractual life	4 years 7 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share)	$ 20.95
Options exercisable, Number exercisable (in shares) | shares	439
Options exercisable Wtd. Avg. Remaining Contractual Life	4 years 7 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share)	$ 20.95
22.27-29.39
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Lower range limit, Exercise price (in dollars per share)	22.27
Upper range limit, Exercise price (in dollars per share)	$ 29.39
Options outstanding, number outstanding (in shares) | shares	359,000
Options outstanding, Wtd. Avg. remaining contractual life	4 years 4 months 24 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share)	$ 25.31
Options exercisable, Number exercisable (in shares) | shares	309
Options exercisable Wtd. Avg. Remaining Contractual Life	4 years 25 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share)	$ 25.74
29.40-45.00
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Lower range limit, Exercise price (in dollars per share)	29.40
Upper range limit, Exercise price (in dollars per share)	$ 45.00
Options outstanding, number outstanding (in shares) | shares	238,000
Options outstanding, Wtd. Avg. remaining contractual life	4 years 21 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share)	$ 32.27
Options exercisable, Number exercisable (in shares) | shares	238
Options exercisable Wtd. Avg. Remaining Contractual Life	4 years 21 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share)	$ 32.27