Stock-Based Compensation - Restricted Stock Units and Stock Awards Activity (Details) - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Number of Restricted Stock Units and Stock Awards
Beginning balance (in shares)	5,011	8,505	7,252
Granted (in shares)	2,921	1,998	4,603
Vested (in shares)	(2,039)	(2,641)	(2,073)
Cancelled or forfeited (in shares)	(520)	(2,851)	(1,277)
Ending balance (in shares)	5,373	5,011	8,505
Weighted Average Grant Date Fair Value
Beginning balance (in dollars per share)	$ 6.80	$ 7.68	$ 9.08
Granted (in dollars per share)	5.58	5.12	6.92
Vested (in dollars per share)	7.15	8.40	10.19
Cancelled/forfeited (in dollars per share)	6.88	6.77	8.83
Ending balance (in dollars per share)	$ 6.00	$ 6.80	$ 7.68