Equity Agreements and Incentive Equity Plans - Summary of Option Activity (Details) $ / shares in Units, shares in Thousands, $ in Thousands	6 Months Ended
	Jun. 30, 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	189
Outstanding balance at end of period (in shares) | shares	4,044
Options exercisable at period end (in shares) | shares	3,222
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	6.49
Outstanding balance at end of period (in dollars per shares) | $ / shares	6.47
Options exercisable at period end (in dollars per share) | $ / shares	$ 6.25
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	190
Outstanding balance at end of period (in shares) | shares	935
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	5.66
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