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Share-Based Compensation - Additional Information (Details)
$ in Thousands, shares in Millions
1 Months Ended 3 Months Ended 6 Months Ended
Mar. 31, 2020
shares
Jun. 30, 2023
USD ($)
shares
Jun. 30, 2022
USD ($)
Jun. 30, 2023
USD ($)
installment
shares
Jun. 30, 2022
USD ($)
Dec. 31, 2020
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation expenses   $ 2,033 $ 2,203 $ 3,838 $ 4,455  
Stock options            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation expenses   100 100 300 300  
Unrecognized compensation cost related to non-vested stock options   300   $ 300    
Non-vested awards not yet recognized weighted-average period for recognition       1 year    
Restricted Stock Units and PRSUs            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share-based compensation expenses   1,900 $ 2,000 $ 3,600 $ 4,100  
Non-vested awards not yet recognized weighted-average period for recognition       2 years    
Unrecognized compensation cost related to non-vested restricted stock   $ 12,000   $ 12,000    
Fair value of restricted stock vested       $ 8,000    
2018 Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Annual percentage increase in number of shares authorized for issuance       4.00%    
Vesting terms of stock options       stock options vest 25% upon the first anniversary of the date of grant and the remainder ratably monthly thereafter for 36 months. Restricted stock units generally vest ratably in three equal installments on the first, second and third anniversaries of the grant date.    
Number of vesting installments | installment       3    
Shares available for future issuance | shares   0.6   0.6    
2018 Plan | PRSUs | Common Stock            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Weighted average price, number of days trailing       30 days    
2018 Plan | First Anniversary of Date of Grant            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Vesting percentage of stock options       25.00%    
2018 Plan | Maximum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares authorized for issuance | shares   1.4   1.4    
Maximum contractual term of stock options       10 years    
2020 Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of additional shares authorized for issuance | shares 0.5          
Shares available for future issuance | shares   0.3   0.3    
2020 Plan | Maximum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Number of shares authorized for issuance | shares           0.4