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Stock-based Awards - Narrative (Details)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Jan. 01, 2023
shares
May 31, 2014
shares
Dec. 31, 2022
USD ($)
equity_incentive_plan
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
Stock-based Awards          
Number of equity incentive plans | equity_incentive_plan     4    
Future issuance     31,855,884    
Total stock-based compensation expense | $     $ 17,681 $ 20,395 $ 23,077
Outstanding stock options (in shares)     5,114,490    
Number of non-vested RSUs (in shares)     10,007,869    
Additional shares available for grant under the equity plan     16,733,525    
Dividend yield     0.00% 0.00% 0.00%
Common Stock          
Stock-based Awards          
Closing price of common stock (in dollars per share) | $ / shares     $ 2.51    
Options to Purchase Common Stock          
Stock-based Awards          
Shares of common stock, grants to purchase     0    
Total remaining stock-based compensation expense for unvested option awards | $     $ 1,900    
Weighted-average period     2 years 1 month 6 days    
Weighted-average grant-date fair value per share of options granted (in dollars per share) | $ / shares       $ 2.78 $ 1.88
Total stock-based compensation expense | $     $ 1,500 $ 3,700 $ 5,500
Total intrinsic value of options exercised | $     $ 100 $ 700 100
Weighted average exercise price (in dollars per share) | $ / shares     $ 0    
Outstanding stock options (in shares)     5,114,490 6,078,180  
Weighted average exercise price (in dollars per share) | $ / shares     $ 9.50 $ 9.24  
Restricted Stock Units (RSUs)          
Stock-based Awards          
Total remaining stock-based compensation expense for unvested option awards | $     $ 32,500    
Weighted-average period     2 years 7 months 6 days    
Total stock-based compensation expense | $     $ 16,200 $ 16,700 17,600
Fair value of shares of restricted stock awards vested | $     $ 8,500 $ 15,800 $ 11,600
Weighted average grant date fair value (in dollars per share) | $ / shares     $ 3.80 $ 4.64 $ 3.08
Shares granted     7,436,267    
Number of non-vested RSUs (in shares)     10,007,869 7,536,114  
Weighted average grant date fair value (in dollars per share) | $ / shares     $ 4.04 $ 4.60  
2014 Plan          
Stock-based Awards          
Annual increase in the number of shares available for future issuance under the terms of the plan agreement   10,000,000      
Annual increase in the number of shares available for future issuance expressed as a percentage of the total outstanding shares of common stock as of the last day of the previous fiscal year   5.00%      
Future issuance     16,733,525    
2014 Plan | Options to Purchase Common Stock          
Stock-based Awards          
Vesting period   4 years      
Expiration period   10 years      
2014 Plan | Restricted Stock Units (RSUs) | Minimum          
Stock-based Awards          
Vesting period   4 years      
2014 Plan | Restricted Stock Units (RSUs) | Maximum          
Stock-based Awards          
Vesting period   5 years      
2014 Plan | Subsequent event          
Stock-based Awards          
Additional shares registered (in shares) 4,421,954