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Stock-based Compensation - Award Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Exercisable and Expected to Vest      
Options exercisable (in shares) 2,162    
Options vested and expected to vest (in shares) 3,898    
Options exercisable (in dollars per share) $ 8.26    
Options vested and expected to vest (in dollars per share) $ 8.91    
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, exercisable options $ 1,556    
Aggregate intrinsic value, options vested and expected to vest $ 1,556    
RSAs      
Number of Shares      
Non-vested, beginning of period (in shares) 80 96 35
Granted (in shares) 159 46 96
Vested (in shares) (58) (62) (35)
Non-vested, end of period (in shares) 181 80 96
Weighted Average Grant Date Fair Value Per Share      
Non-vested, beginning of period (in dollars per share) $ 17.53 $ 11.44 $ 17.18
Granted (in dollars per share) 7.53 21.91 11.44
Vested (in dollars per share) 18.42 11.31 17.18
Non-vested, end of period (in dollars per share) $ 8.45 $ 17.53 $ 11.44
RSUs      
Number of Shares      
Non-vested, beginning of period (in shares) 232 176 201
Granted (in shares) 518 163 156
Vested (in shares) (106) (70) (168)
Forfeited/Expired (in shares) (126) (37) (13)
Non-vested, end of period (in shares) 518 232 176
Weighted Average Grant Date Fair Value Per Share      
Non-vested, beginning of period (in dollars per share) $ 21.83 $ 14.17 $ 10.76
Granted (in dollars per share) 17.46 26.59 14.22
Vested (in dollars per share) 21.21 13.57 10.05
Forfeited/Expired (in dollars per share) 19.55 21.89 15.16
Non-vested, end of period (in dollars per share) $ 18.15 $ 21.83 $ 14.17
PSUs      
Number of Shares      
Non-vested, beginning of period (in shares) 128 131 120
Granted (in shares) 686 82 124
Vested (in shares) (107) (66) (107)
Forfeited/Expired (in shares) (40) (19) (6)
Non-vested, end of period (in shares) 667 128 131
Weighted Average Grant Date Fair Value Per Share      
Non-vested, beginning of period (in dollars per share) $ 21.24 $ 15.34 $ 13.88
Granted (in dollars per share) 9.55 26.16 13.59
Vested (in dollars per share) 20.52 16.14 11.28
Forfeited/Expired (in dollars per share) 19.93 19.38 21.80
Non-vested, end of period (in dollars per share) $ 9.41 $ 21.24 $ 15.34
PBOs      
Number of Shares      
Non-vested, beginning of period (in shares) 1,840 1,560 1,260
Granted (in shares) 733 433 689
Exercised (in shares)   (35)  
Forfeited/Expired (in shares) (747) (118) (389)
Non-vested, end of period (in shares) 1,826 1,840 1,560
Weighted Average Grant Date Fair Value Per Share      
Non-vested, beginning of period (in dollars per share) $ 4.11 $ 5.05 $ 4.75
Granted (in dollars per share) 9.89 12.23 6.37
Exercised (in dollars per share)   9.02  
Forfeited/Expired (in dollars per share) 8.29 12.23 6.42
Non-vested, end of period (in dollars per share) $ 4.70 $ 4.11 $ 5.05
Exercisable and Expected to Vest      
Options exercisable (in shares) 1,674    
Options vested and expected to vest (in shares) 1,808    
Options exercisable (in dollars per share) $ 11.09    
Options vested and expected to vest (in dollars per share) $ 11.85    
Weighted average remaining contractual terms, exercisable options 5 years 4 months 24 days    
Weighted average remaining contractual terms, vested and expected to vest options 5 years 8 months 12 days    
Aggregate intrinsic value, exercisable options $ 40    
Aggregate intrinsic value, options vested and expected to vest $ 40