Stockholders' Equity - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Options Outstanding
Outstanding at the beginning of the period (in options)	1,496
Granted (in options)	0
Exercised (in options)	(1)
Canceled/Forfeited (in options)	(44)
Expired (in options)	(176)
Options outstanding at the end of the period (in options)	1,275	1,496
Vested and exercisable at the end of the period	1,139
Weighted Average Exercise Price
Options outstanding at beginning of period (in USD per share)	$ 11.84
Granted (in USD per share)	0
Exercised (in USD per share)	12.08
Canceled/Forfeited (in USD per share)	16.49
Expired (in USD per share)	11.7
Options outstanding at end of period (in USD per share)	11.7	$ 11.84
Vested and exercisable at the end of the period	$ 11.13
Weighted Average Remaining Contractual Term (years)
Stock options outstanding	6 years 3 months	7 years 2 months 12 days
Vested and exercisable at the end of the period	6 years 1 month 17 days
Aggregate intrinsic value
Outstanding	$ 0	$ 3,281
Vested and exercisable at the end of the period	$ 0