Stock-Based Compensation - Schedule of Stock Option Activity (Details) $ / shares in Units, shares in Thousands, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Number of Options
Outstanding, beginning balance (in shares) | shares	5,217
Granted (in shares) | shares	0
Exercised (in shares) | shares	(534)
Canceled (in shares) | shares	(106)
Outstanding, ending balance (in shares) | shares	4,577	5,217
Weighted Average Exercise Price
Outstanding, beginning balance (in dollars per share) | $ / shares	$ 16.08
Granted (in dollars per share) | $ / shares	0
Exercised (in dollars per share) | $ / shares	6.75
Canceled (in dollars per share) | $ / shares	30.09
Outstanding, ending balance (in dollars per share) | $ / shares	$ 16.85	$ 16.08
Weighted-average remaining contractual life, options outstanding	4 years 11 months 26 days	5 years 8 months 4 days
Aggregate intrinsic value, options outstanding | $	$ 14,182	$ 58,784
Options vested and exercisable (in shares) | shares	3,764
Options vested and exercisable (in dollars per share) | $ / shares	$ 13.77
Weighted-average remaining contractual life, options vested and exercisable	4 years 3 months 18 days
Aggregate intrinsic value, options vested and exercisable | $	$ 13,991