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Stock-based Compensation - Additional Information (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Feb. 21, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Common stock, shares authorized 500,000,000 500,000,000    
Common stock, par value $ 0.001 $ 0.001    
Cash proceeds received upon the exercise of options $ 327,000 $ 2,262,000 $ 1,195,000  
Unrecognized compensation cost $ 19,348,000      
Weighted-average period of unrecognized compensation cost expected to be recognized 2 years 1 month 17 days      
Common Stock        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock repurchase program, common stock remaining authorized to be repurchased $ 60,234      
Stock repurchase program, stock repurchased, shares 204,000 1,671,000 1,227,000  
Stock repurchase program, stock repurchased, value $ 1,192,000 $ 8,819,000 $ 3,031,000  
Tranche One        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Award vesting date Jan. 01, 2023      
Tranche Two        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Award vesting date Jan. 01, 2024      
Tranche Three        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Award vesting date Jan. 01, 2025      
Maximum | Common Stock        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock repurchase program, common stock authorized to be repurchased       $ 75,000,000
2017 Stock Incentive Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of remaining shares available for grant 6,051,000      
Number of shares authorized for grant 19,355,000      
2017 Stock Incentive Plan | Minimum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of shares issued in period 20,000,000      
Percentage of number of shares issued in period 4.00%      
Stock Options        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Weighted average grant date fair value per share of options $ 1.62 $ 2.88 $ 1.42  
Cash proceeds received upon the exercise of options $ 327,000 $ 2,263,000 $ 1,195,000  
Intrinsic value of stock options exercised $ 362,000 $ 5,594,000 $ 1,746,000  
Restricted Stock Units        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Number of award outstanding 5,505,000 4,309,000    
Restricted Stock Units | Common Stock        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Shares of common stock in settlement of employee tax withholding obligations 469,000      
Restricted Stock Units | 2011 and 2017 Stock Incentive Plan | Common Stock        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Shares of common stock in settlement of employee tax withholding obligations   791,000 150,000  
Performance-Based Restricted Stock Units        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Award vesting period 3 years 3 years    
Number of award outstanding 1,262,000 442,000    
Stock Appreciation Rights        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Award vesting period 4 years      
Award expiration period 10 years      
Number of SAR exercised (90,000)      
Number of award outstanding 110,000 200,000    
Fair value of SAR $ 1.69      
Stock Appreciation Rights | Accrued Expenses And Other Current Liabilities        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Fair value of liability $ 0 $ 358,000