Stock-Based Awards - RSUs (Details) - Restricted stock unit awards - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
RSU, Number of Units
Units outstanding, beginning of the year	1,520,730	1,496,946	2,244,157
Granted	993,662	936,563	664,948
Vested	(745,279)	(533,212)	(1,340,042)
Forfeited and cancelled	(247,173)	(379,567)	(72,117)
Units outstanding, end of the year	1,521,940	1,520,730	1,496,946
RSU, Weighted Average Grant Date Fair Value Per Unit
Weighted average grant date fair value, beginning balance (in dollars per share)	$ 14.02	$ 12.75	$ 3.83
Weighted average grant date fair value, granted (in dollars per share)	15.17	14.43	23.33
Weighted average grant date fair value, vested (in dollars per share)	11.72	11.61	3.18
Weighted average grant date fair value, forfeited and cancelled (in dollars per share)	15.15	13.40	10.36
Weighted average grant date fair value, ending balance (in dollars per share)	$ 15.72	$ 14.02	$ 12.75
Aggregate intrinsic value of awards that vested during the period	$ 8,262	$ 7,943	$ 31,492