Stockholders' Equity - Schedule of Shares Repurchased (Details) - USD ($)	3 Months Ended					9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 15, 2022	Nov. 30, 2020
Equity [Line Items]
Shares repurchased during the period	$ 12,297,000	$ 6,088,000	$ 2,419,000	$ 3,502,000	$ 3,879,000
Maximum
Equity [Line Items]
Amount of stock repurchase plan authorized									$ 12,000,000
June 12, 2023
Equity [Line Items]
Shares repurchased (in shares)						889,566	0
Shares repurchased during the period						$ 12,231,000
Shares repurchased during period (in USD per share)						$ 13.75
June 12, 2023 \| Maximum
Equity [Line Items]
Amount of stock repurchase plan authorized	20,000,000					$ 20,000,000
December 15, 2022
Equity [Line Items]
Shares repurchased (in shares)						400,691	0
Shares repurchased during the period						$ 6,154,000
Shares repurchased during period (in USD per share)						$ 15.36
December 15, 2022 \| Maximum
Equity [Line Items]
Amount of stock repurchase plan authorized	$ 7,997,000					$ 7,997,000		$ 8,000,000.0
November 3, 2020
Equity [Line Items]
Shares repurchased (in shares)						0	806,324
Shares repurchased during the period							$ 9,800,000
Shares repurchased during period (in USD per share)							$ 12.15
November 3, 2020 \| Maximum
Equity [Line Items]
Amount of stock repurchase plan authorized			$ 20,000,000				$ 20,000,000		$ 20,000,000