Equity Agreements and Incentive Equity Plans - Summary of Option Activity (Details) $ / shares in Units, shares in Thousands, $ in Thousands	3 Months Ended
Mar. 31, 2023 USD ($) $ / shares shares
Time-based Options
Number of Units
Outstanding balance at beginning of period (in shares) \| shares	4,233
Granted (in shares) \| shares	0
Issuance of common stock pursuant to equity incentive plans (in shares) \| shares	0
Forfeited (in shares) \| shares	132
Outstanding balance at end of period (in shares) \| shares	4,101
Options exercisable at period end (in shares) \| shares	3,199
Weighted- Average Grant-Date Fair Value
Outstanding balance at beginning of period (in dollars per shares) \| $ / shares	$ 6.47
Granted (in dollars per share) \| $ / shares	0
Exercised (in dollars per share) \| $ / shares	0
Forfeited (in dollars per share) \| $ / shares	6.29
Outstanding balance at end of period (in dollars per shares) \| $ / shares	6.47
Options exercisable at period end (in dollars per share) \| $ / shares	$ 6.24
Aggregate Intrinsic Value
Outstanding balance at beginning of period \| $	$ 0
Granted \| $	0
Exercised \| $	0
Forfeited \| $	0
Outstanding balance at end of period \| $	0
Options exercisable at period end \| $	$ 0
Market-based Options
Number of Units
Outstanding balance at beginning of period (in shares) \| shares	1,125
Granted (in shares) \| shares	0
Issuance of common stock pursuant to equity incentive plans (in shares) \| shares	0
Forfeited (in shares) \| shares	0
Outstanding balance at end of period (in shares) \| shares	1,125
Options exercisable at period end (in shares) \| shares	0
Weighted- Average Grant-Date Fair Value
Outstanding balance at beginning of period (in dollars per shares) \| $ / shares	$ 5.66
Granted (in dollars per share) \| $ / shares	0
Exercised (in dollars per share) \| $ / shares	0
Forfeited (in dollars per share) \| $ / shares	0
Outstanding balance at end of period (in dollars per shares) \| $ / shares	5.66
Options exercisable at period end (in dollars per share) \| $ / shares	$ 0
Aggregate Intrinsic Value
Outstanding balance at beginning of period \| $	$ 0
Granted \| $	0
Exercised \| $	0
Forfeited \| $	0
Outstanding balance at end of period \| $	0
Options exercisable at period end \| $	$ 0

Share-based Compensation Arrangement by Share-based Payment Award, Options, Aggregate Intrinsic Value

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Equity Agreements and Incentive Equity Plans - Summary of Option Activity (Details) $ / shares in Units, shares in Thousands, $ in Thousands	3 Months Ended
	Mar. 31, 2023 USD ($) $ / shares shares
Time-based Options
Number of Units
Outstanding balance at beginning of period (in shares) \| shares	4,233
Granted (in shares) \| shares	0
Issuance of common stock pursuant to equity incentive plans (in shares) \| shares	0
Forfeited (in shares) \| shares	132
Outstanding balance at end of period (in shares) \| shares	4,101
Options exercisable at period end (in shares) \| shares	3,199
Weighted- Average Grant-Date Fair Value
Outstanding balance at beginning of period (in dollars per shares) \| $ / shares	$ 6.47
Granted (in dollars per share) \| $ / shares	0
Exercised (in dollars per share) \| $ / shares	0
Forfeited (in dollars per share) \| $ / shares	6.29
Outstanding balance at end of period (in dollars per shares) \| $ / shares	6.47
Options exercisable at period end (in dollars per share) \| $ / shares	$ 6.24
Aggregate Intrinsic Value
Outstanding balance at beginning of period \| $	$ 0
Granted \| $	0
Exercised \| $	0
Forfeited \| $	0
Outstanding balance at end of period \| $	0
Options exercisable at period end \| $	$ 0
Market-based Options
Number of Units
Outstanding balance at beginning of period (in shares) \| shares	1,125
Granted (in shares) \| shares	0
Issuance of common stock pursuant to equity incentive plans (in shares) \| shares	0
Forfeited (in shares) \| shares	0
Outstanding balance at end of period (in shares) \| shares	1,125
Options exercisable at period end (in shares) \| shares	0
Weighted- Average Grant-Date Fair Value
Outstanding balance at beginning of period (in dollars per shares) \| $ / shares	$ 5.66
Granted (in dollars per share) \| $ / shares	0
Exercised (in dollars per share) \| $ / shares	0
Forfeited (in dollars per share) \| $ / shares	0
Outstanding balance at end of period (in dollars per shares) \| $ / shares	5.66
Options exercisable at period end (in dollars per share) \| $ / shares	$ 0
Aggregate Intrinsic Value
Outstanding balance at beginning of period \| $	$ 0
Granted \| $	0
Exercised \| $	0
Forfeited \| $	0
Outstanding balance at end of period \| $	0
Options exercisable at period end \| $	$ 0