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Stock-Based Compensation and Compensation Plans - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended 120 Months Ended
Sep. 30, 2021
Feb. 28, 2021
Mar. 31, 2020
Jun. 30, 2016
Apr. 30, 2016
Aug. 31, 2013
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2022
Feb. 28, 2023
Oct. 31, 2019
Stock Option and Compensation Plans                        
Options outstanding (in shares)             11,847,000     11,847,000    
Weighted-average exercise price of options (in dollars per share)             $ 14.66     $ 14.66    
Weighted-average remaining contractual life of options             7 years 6 months          
Aggregate intrinsic value             $ 106,200     $ 106,200    
Share-based compensation expense             26,676 $ 11,245 $ 8,323      
Stock options                        
Stock Option and Compensation Plans                        
Share-based compensation expense             16,100 6,500 4,700      
Unrecognized compensation costs             $ 66,900     $ 66,900    
Remaining weighted average period             3 years 2 months 12 days          
ESPP                        
Stock Option and Compensation Plans                        
Number of shares of common stock available for issuance under the Plan (in shares)             712,394     712,394    
Purchase price of common stock as percentage of fair market value         85.00%              
Offering period       6 months 6 months              
Share-based compensation expense             $ 400 $ 200        
Unrecognized compensation costs             $ 100     $ 100    
Remaining weighted average period             2 months 12 days          
Common stock issued (in shares)             41,016 51,951        
Proceeds from stock plans             $ 500 $ 300        
Restricted stock units                        
Stock Option and Compensation Plans                        
Share-based compensation expense               0        
RSUs expected to vest (in shares)             2,788,000     2,788,000    
Weighted-average fair value of RSUs expected to vest (in dollars per share)             $ 15.12     $ 15.12    
Aggregate intrinsic value of RSUs expected to vest             $ 59,700     $ 59,700    
Total fair value vested             5,800          
Employees | Restricted stock units                        
Stock Option and Compensation Plans                        
Share-based compensation expense             $ 10,200 $ 4,600 $ 3,300      
Remaining weighted average period             3 years 3 months 18 days          
Unrecognized compensation costs, net of estimated forfeitures             $ 36,400     $ 36,400    
Maximum | ESPP                        
Stock Option and Compensation Plans                        
Number of shares reserved for issuance under the plan up to (in shares)         1,000,000              
2013 Plan                        
Stock Option and Compensation Plans                        
Number of shares of common stock available for issuance under the Plan (in shares)             166,000     166,000    
Annual increase in shares reserved for issuance under the Plan (in shares)           2,542,372            
Annual increase in shares reserved for issuance under the Plan (as a percent)           4.00%            
Increase in number of shares available under the Plan (in shares)             2,542,000     18,166,000    
2013 Plan | Maximum                        
Stock Option and Compensation Plans                        
Number of shares reserved for issuance under the plan up to (in shares)           3,359,641            
2007 Plan                        
Stock Option and Compensation Plans                        
Number of shares of common stock available for issuance under the Plan (in shares)           739,317            
2019 Inducement Plan | Stock options                        
Stock Option and Compensation Plans                        
Number of shares reserved for issuance under the plan up to (in shares)                       1,000,000
Number of shares of common stock available for issuance under the Plan (in shares)             791,000     791,000    
Increase in number of shares available under the Plan (in shares) 1,000,000 600,000 1,000,000                  
2019 Inducement Plan | Stock options | Subsequent Event                        
Stock Option and Compensation Plans                        
Number of shares reserved for issuance under the plan up to (in shares)                     2,000,000