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Stock-Based Awards - Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Options, Number of Shares        
Number of Shares, beginning balance 2,871,498 3,102,221 4,282,081  
Number of Shares, Granted 1,068,100 734,800 44,500  
Number of Shares, Exercised (115,548) (53,737) (142,779)  
Number of Shares, Forfeited and cancelled (31,600) (911,786) (1,081,581)  
Number of Shares, ending balance 3,792,450 2,871,498 3,102,221 4,282,081
Number of Shares, Options vested and expected to vest 3,792,450      
Number of Shares, Options exercisable 2,200,718      
Options, Weighted Average Exercise Price        
Weighted Average Exercise Price, beginning balance (in dollars per share) $ 15.16 $ 20.33 $ 20.53  
Weighted Average Exercise Price, Granted (in dollars per share) 23.44 1.30 5.75  
Weighted Average Exercise Price, Exercised (in dollars per share) 12.63 1.30 1.33  
Weighted Average Exercise Price, Forfeited and cancelled (in dollars per share) 23.26 22.41 23.01  
Weighted Average Exercise Price, ending balance (in dollars per share) 17.50 $ 15.16 $ 20.33 $ 20.53
Weighted Average Exercise Price, Options vested and expected to vest (in dollars per share) 17.50      
Weighted Average Exercise Price, Options exercisable (in dollars per share) $ 17.86      
Options, Weighted Average Remaining Contractual Term        
Weighted Average Remaining Contractual Term (in years) 6 years 9 months 18 days 6 years 9 months 18 days 6 years 7 months 6 days 7 years 10 months 24 days
Weighted Average Remaining Contractual Term, Options vested and expected to vest (in years) 6 years 9 months 18 days      
Weighted Average Remaining Contractual Term, Options exercisable (in years) 5 years 4 months 24 days      
Aggregate Intrinsic Value        
Aggregate Intrinsic Value $ 13,710 $ 4,890 $ 148 $ 2,404
Aggregate Intrinsic Value, Exercised 1,373 $ 145 $ 112  
Aggregate Intrinsic Value, Options vested and expected to vest 13,710      
Aggregate Intrinsic Value, Options exercisable $ 7,756      
Weighted average grant-date fair value of stock options granted (in dollars per share) $ 15.67 $ 0.93 $ 4.63