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Stock-Based Compensation - Additional Information (Details) - USD ($) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Cash received from stock option exercises |  | $ 7,800,000 | $ 3,000,000 | $ 7,700,000 |
Cash used for shares withheld to satisfy employee tax obligations for RSUs and PRSUs converted |  | $ 3,200,000 | 2,100,000 | $ 1,800,000 |
Shares authorized for future grant under stock plan (in shares) |  | 2,800,000 |  |  |
Employee Stock Option |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Options vesting period |  | 3 years |  |  |
Options expiration period |  | 10 years |  |  |
Period of historical option activity considered to determine expected option life |  | 10 years |  |  |
Unrecognized compensation cost | [1] | $ 1,200,000 | $ 1,700,000 |  |
Employee Stock Option | Minimum [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Period over which unrecognized compensation costs will be recognized |  | 1 year |  |  |
Employee Stock Option | Maximum [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Period over which unrecognized compensation costs will be recognized |  | 3 years |  |  |
RSUs |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Number of shares outstanding |  | 500,000 | 500,000 | 500,000 | 500,000
Unrecognized compensation cost |  | $ 6,000,000 |  |  |
RSUs | Minimum [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Period over which unrecognized compensation costs will be recognized |  | 1 year |  |  |
RSUs | Maximum [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Period over which unrecognized compensation costs will be recognized |  | 3 years |  |  |
PRSUs |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Number of shares outstanding |  | 444,572 | 400,000 | 400,000 | 300,000
Unrecognized compensation cost |  | $ 1,900,000 |  |  |
Performance period |  | 3 years |  |  |
Shares authorized for issuance under stock plan |  | 3,300,000 |  |  |
PRSUs | Minimum [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Period over which unrecognized compensation costs will be recognized |  | 1 year |  |  |
Performance period |  | 3 years |  |  |
PRSUs | Maximum [Member] |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Period over which unrecognized compensation costs will be recognized |  | 3 years |  |  |
Employee stock purchase plan |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Maximum contribution by eligible employees as percentage of base earnings (as a percent) |  | 10.00% |  |  |
Maximum contribution by eligible employees in a calendar year |  | $ 25,000 |  |  |
Common stock purchase price as percentage of fair market value (as a percent) |  | 85.00% |  |  |
Shares purchased under employee stock purchase plan (in shares) |  | 73,809 | 74,664 | 28,620 |
2013 incentive stock plans |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Number of shares outstanding |  | 446,265 |  |  |
[1] | Unrecognized compensation cost relates to non-vested stock options and is expected to be recognized over the remaining vesting period ranging from one year to three years.

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