Equity and Equity Compensation Plans - Schedule of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022
Number of Options
Outstanding, beginning balance (in shares)	3,282,789
Options exercised (in shares)	(18,037)
Options canceled (in shares)	(29,667)
Outstanding, ending balance (in shares)	3,235,085
Options exercisable at period end (in shares)	3,235,085
Weighted-Average Exercise Price
Outstanding, beginning balance (in dollars per share)	$ 9.10
Options exercised (in dollars per share)	7.35
Options canceled (in dollars per share)	9.76
Outstanding, ending balance (in dollars per share)	9.10
Options exercisable at period end (in dollars per share)	$ 9.10
Weighted-Average Remaining Contractual Life (Years)
Weighted average remaining contractual life outstanding	2 years 8 months 8 days	2 years 10 months 24 days
Weighted average remaining contractual life exercisable	2 years 8 months 8 days
Aggregate Intrinsic Value
Options outstanding, Aggregate intrinsic value	$ 6,039		$ 1,145
Options exercisable, Aggregate intrinsic value	$ 6,039