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Stock-Based Compensation Expense - Employee Stock Purchase Plan Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Unrecognized compensation cost, period for recognition 1 year 10 months 24 days    
ESPP      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Award offering period 6 months    
Weighted-average grant-date fair value per share (in dollars per share) $ 60.67 $ 74.50 $ 60.65
Unrecognized compensation cost $ 1,800,000    
Unrecognized compensation cost, period for recognition 4 months 24 days    
ESPP | ESPP      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of shares authorized (in shares) 880,000    
Annual maximum shares per employee (in shares) 800    
Annual maximum common stock value purchase per employee $ 25,000    
Percentage of employees' compensation deduction for share purchase 10.00%    
Purchase price percentage of fair market value 85.00%    
Issuance of shares for employee stock purchase plan (in shares) 55,439 52,724 36,103
Shares available for issuance (in shares) 364,496