Stockholders' Equity - Restricted Stock Unit Activity (Details) - RSUs shares in Thousands	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Restricted Stock Units
Nonvested balance at beginning of period (in shares) | shares	4,659
Granted (in shares) | shares	1,427
Vested (in shares) | shares	(871)
Forfeitured or expired (in shares) | shares	(35)
Vested but not released (in shares) | shares	(245)
Nonvested balance at end of period (in shares) | shares	4,935
Weighted-Average Grant Date Fair Value
Nonvested balance at beginning of period, weighted-average grant date fair value (in dollars per share) | $ / shares	$ 12.88
Granted, weighted average grant date fair value (in dollars per share) | $ / shares	11.39
Vested, weighted-average grant date fair value (in dollars per share) | $ / shares	11.34
Forfeitured or expired, weighted-average grant date fair value (in dollars per share) | $ / shares	16.12
Vested but not released, weighted-average grant date fair value (in dollars per share) | $ / shares	12.55
Nonvested balance at end of period, weighted average grant fair value (in dollars per share) | $ / shares	$ 0