Stock-Based Compensation - Schedule of Information With Respect to Stock Options (Details) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022 USD ($) $ / shares shares
Number of Shares
Beginning balance (in shares)	1,306
Options exercised (in shares)	(135)
Options forfeited (in shares)	(142)
Ending balance (in shares)	1,029
Vested and expected to vest at December 31, 2021 (in shares)	1,028
Total shares exercisable as of December 31, 2021 (in shares)	937
Shares remaining available for grant (in shares)	2,169
Weighted Average Exercise Price
Beginning balance (in dollars per share) | $ / shares	$ 11.95
Options exercised (in dollars per share) | $ / shares	9.98
Options forfeited (in dollars per share) | $ / shares	10.75
Ending balance (in dollars per share) | $ / shares	12.82
Vested and expected to vest at December 31, 2021 (in dollars per share) | $ / shares	12.82
Total shares exercisable as of December 31, 2021 (in dollars per share) | $ / shares	$ 12.87
Outstanding at December 31, 2022 | $	$ 13,645
Vested and expected to vest at December 31, 2022 | $	13,622
Total shares exercisable at December 31, 2022 | $	$ 12,321