Stock-based Compensation - Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Number of Shares
Outstanding, beginning of period (in shares)	3,385	3,147	4,112
Granted (in shares)	286	496	406
Exercised (in shares)	(664)	(210)	(1,045)
Forfeited/Expired (in shares)	(72)	(48)	(326)
Outstanding, end of period (in shares)	2,935	3,385	3,147
Options exercisable (in shares)	2,861
Options vested and expected to vest (in shares)	2,338
Weighted Average Exercise Price Per Share
Outstanding, beginning of period (in dollars per share)	$ 7.19	$ 6.31	$ 4.81
Granted (in dollars per share)	26.85	13.30	20.68
Exercised (in dollars per share)	6.96	6.30	4.50
Forfeited/Expired (in dollars per share)	17.99	16.71	11.01
Outstanding, end of period (in dollars per share)	8.90	$ 7.19	$ 6.31
Options exercisable (in dollars per share)	8.56
Options vested and expected to vest (in dollars per share)	$ 5.99
Additional Disclosures
Weighted average remaining contractual terms	5 years
Weighted average remaining contractual terms, exercisable options	4 years 10 months 24 days
Weighted average remaining contractual terms, vested and expected to vest options	4 years 2 months 12 days
Aggregate intrinsic value, outstanding	$ 65,963
Aggregate intrinsic value, exercisable options	65,186
Aggregate intrinsic value, options vested and expected to vest	$ 59,103