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Stock-based Awards - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Jan. 01, 2023
May 31, 2014
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Stock-based Awards          
Future issuance     35,068,838    
Total stock-based compensation expense     $ 14,299 $ 17,681 $ 20,395
Performance period     3 years    
Dividend yield     0.00%   0.00%
Common Stock          
Stock-based Awards          
Closing price of common stock (in dollars per share)     $ 3.46    
Minimum          
Stock-based Awards          
Payout of performance share award     0.00%    
Maximum          
Stock-based Awards          
Payout of performance share award     175.00%    
Options to Purchase Common Stock          
Stock-based Awards          
Vesting period   3 years      
Total remaining stock-based compensation expense for unvested option awards     $ 300    
Weighted-average period     1 year 2 months 12 days    
Weighted-average grant-date fair value per share of options granted (in dollars per share)         $ 2.78
Total stock-based compensation expense     $ 900 1,500 $ 3,700
Total intrinsic value of options exercised     $ 100 100 700
Weighted average exercise price (in dollars per share)     $ 0    
Restricted Stock Units (RSUs)          
Stock-based Awards          
Total remaining stock-based compensation expense for unvested option awards     $ 15,500    
Weighted-average period     2 years 4 months 24 days    
Total stock-based compensation expense     $ 10,800 12,100 15,200
Fair value of shares of restricted stock awards vested     $ 8,300 $ 8,400 $ 15,800
Weighted average grant date fair value (in dollars per share)     $ 2.31 $ 3.49 $ 4.49
Performance Stock Units          
Stock-based Awards          
Total remaining stock-based compensation expense for unvested option awards     $ 3,300    
Weighted-average period     1 year 9 months 18 days    
Total stock-based compensation expense     $ 2,600 $ 4,100 $ 1,500
Fair value of shares of restricted stock awards vested     $ 700 $ 100 $ 0
Weighted average grant date fair value (in dollars per share)     $ 2.75 $ 4.90 $ 5.99
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%      
Additional shares registered (in shares) 4,421,954        
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   3 years