Stockholders’ Equity - Restricted Stock Unit Activity (Details) - Restricted stock units - $ / shares	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Number of Shares
Beginning balance outstanding (in shares)	8,278,361
Granted (in shares)		57,137
Vested (in shares)		(586,640)
Canceled (in shares)	(291,799)
Ending balance outstanding (in shares)	7,457,059
Weighted Average Grant Date Fair Value
Beginning balance outstanding (in dollars per share)	$ 5.51
Granted (in dollars per share)		$ 5.38
Vested (in dollars per share)		$ 6.43
Canceled (in dollars per share)	5.77
Ending balance outstanding (in dollars per share)	$ 5.42