Stock Based Compensation - Summary of Unvested Stock Options (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock Options
Beginning balance (in shares)	1,653	1,768
Granted (in shares)	0	83
Exercised (in shares)	(3)	(2)
Forfeited and canceled (in shares)	(196)	(196)
Ending balance (in shares)	1,454	1,653	1,768
Options exercisable (in shares)	1,246
Weighted Average Exercise Price
Beginning balance (in dollars per share)	$ 25.48	$ 26.51
Granted (in dollars per share)	0	14.16
Exercised (in dollars per share)	19.49	19.49
Forfeited and canceled (in dollars per share)	24.52	30.06
Ending balance (in dollars per share)	$ 25.62	$ 25.48	$ 26.51
Aggregate Intrinsic Value	$ 986	$ 53	$ 2,897
Aggregate Intrinsic Value - Exercised	$ 5	$ 10
Weighted Average Remaining Contractual Life (years)	4 years 10 months 24 days	6 years 2 months 12 days	7 years 3 months 18 days