Stock-Based Plans - Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018	Jan. 17, 2020
Number of Options
Beginning balance (in shares)	1,635	2,027	2,385
Options granted (in shares)	92	117	50
Option exercised (in shares)	(37)	(100)	(197)
Options forfeited (in shares)	(93)	(409)	(211)
Ending balance (in shares)	1,597	1,635	2,027	2,385
Vested (in shares)	1,503
Unvested awards (in shares)	94
Weighted-Average Exercise Price per Option
Beginning balance (in usd per share)	$ 7.33	$ 7.78	$ 7.56
Options granted (in usd per share)	5.56	4.05	13.08
Options exercised (in usd per share)	5.62	4.84	5.43
Options forfeited (in usd per share)	10.49	9.22	8.73
Ending balance (in usd per share)	7.08	$ 7.33	$ 7.78	$ 7.56
Vested (in usd per share)	7.13
Unvested awards (in usd per share)	$ 6.30
Weighted- Average Remaining Contractual Life
Contractual term	5 years 7 months 6 days	6 years 2 months 12 days	6 years 9 months 18 days	7 years 9 months 18 days
Vested	5 years 6 months
Unvested awards	8 years
Aggregate Intrinsic Value
Options exercised	$ 25	$ 359	$ 1,198
Outstanding	82	$ 834
Vested	82
Unvested awards	$ 0
Share price (in usd per share)	$ 3.92				$ 4.22