Stock-Based Compensation - Options (Details) - Stock options $ / shares in Units, shares in Thousands, $ in Thousands	9 Months Ended
	Sep. 30, 2023 USD ($) $ / shares shares
Number of Shares
Outstanding, beginning balance (in shares) | shares	4,882
Options granted (in shares) | shares	1,083
Options forfeited (in shares) | shares	(141)
Options cancelled (in shares) | shares	(18)
Options exercised (in shares) | shares	(309)
Outstanding, ending balance (in shares) | shares	5,497
Options vested and exercisable (in shares) | shares	3,381
Weighted Average Exercise Price per Share
Outstanding, beginning balance (in dollars per shares)	$ 17.23
Options granted (in dollars per share)	19.60
Options forfeited (in dollars per shares)	19.13
Options cancelled (in dollars per shares)	21.76
Options exercised (in dollars per shares)	1.65
Outstanding, end balance (in dollars per shares)	18.51
Options vested and exercisable (in dollars per shares)	$ 16.93
Options
Intrinsic value, outstanding | $	$ 2,628
Intrinsic value, exercised | $	5,928
Intrinsic value, exercisable | $	$ 2,628
Weighted-average grant-date fair value of options granted (in dollars per share)	$ 15.72
Weighted-average grant-date fair value of options vested (in dollars per share)	$ 12.58
Weighted average remaining contractual life, exercisable	5 years 8 months 12 days
Weighted average remaining contractual life, outstanding	6 years 10 months 24 days