Stock-based Compensation - Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Number of Shares
Outstanding, beginning of period (in shares)	2,935	3,385	3,147
Granted (in shares)	2,000	286	496
Exercised (in shares)	(410)	(664)	(210)
Forfeited/Expired (in shares)	(275)	(72)	(48)
Outstanding, end of period (in shares)	4,250	2,935	3,385
Options exercisable (in shares)	2,162
Options vested and expected to vest (in shares)	3,898
Weighted Average Exercise Price Per Share
Outstanding, beginning of period (in dollars per share)	$ 8.90	$ 7.19	$ 6.31
Granted (in dollars per share)	8.90	26.85	13.30
Exercised (in dollars per share)	2.33	6.96	6.30
Forfeited/Expired (in dollars per share)	19.01	17.99	16.71
Outstanding, end of period (in dollars per share)	8.88	$ 8.90	$ 7.19
Options exercisable (in dollars per share)	8.26
Options vested and expected to vest (in dollars per share)	$ 8.91
Additional Disclosures
Weighted average remaining contractual terms	6 years 2 months 12 days
Weighted average remaining contractual terms, exercisable options	3 years 1 month 6 days
Weighted average remaining contractual terms, vested and expected to vest options	5 years 10 months 24 days
Aggregate intrinsic value, outstanding	$ 1,556
Aggregate intrinsic value, exercisable options	1,556
Aggregate intrinsic value, options vested and expected to vest	$ 1,556