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Stock-based Compensation - Stock Plan Activities (Details) - $ / shares
shares in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2022
Mar. 31, 2022
Jun. 30, 2021
Mar. 31, 2021
Jun. 30, 2022
Options Outstanding          
Options outstanding, stock option awards exercised (in shares) (51) (1,108) (1,056) (593)  
Incentive Plan          
Awards Available          
Awards available, beginning balance (in shares)   3,651     3,651
Plan amendment (in shares)         8,000
Awards available, restricted stock awards granted (in shares)         (663)
Awards available, restricted stock awards cancelled (in shares)         52
Awards available, stock option awards granted (in shares)         (776)
Awards available, stock option awards cancelled (in shares)         472
Awards available, ending balance (in shares) 10,736       10,736
Options Outstanding          
Options outstanding, beginning balance (in shares)   28,685     28,685
Options outstanding, stock option awards granted ( in shares)         776
Options outstanding, stock option awards exercised (in shares)         (1,086)
Options outstanding, stock option awards cancelled (in shares)         (472)
Options outstanding, ending balance (in shares) 27,903       27,903
Weighted Average Exercise Price          
Weighted average exercise price, beginning balance (in usd per share)   $ 7.90     $ 7.90
Weighted average exercise price of stock option awards granted (in usd per share)         11.10
Weighted average exercise price of stock option awards exercised (in usd per share)         5.72
Weighted average exercise price of stock option awards cancelled (in usd per share)         10.67
Weighted average exercise price, ending balance (in usd per share) $ 8.03       $ 8.03
Inducement Plan          
Awards Available          
Awards available, beginning balance (in shares)   900     900
Awards available, restricted stock awards granted (in shares)         (203)
Awards available, restricted stock awards cancelled (in shares)         2
Awards available, stock option awards granted (in shares)         (697)
Awards available, stock option awards cancelled (in shares)         130
Awards available, ending balance (in shares) 132       132
Options Outstanding          
Options outstanding, beginning balance (in shares)   4,408     4,408
Options outstanding, stock option awards granted ( in shares)         697
Options outstanding, stock option awards exercised (in shares)         (55)
Options outstanding, stock option awards cancelled (in shares)         (130)
Options outstanding, ending balance (in shares) 4,920       4,920
Weighted Average Exercise Price          
Weighted average exercise price, beginning balance (in usd per share)   $ 6.20     $ 6.20
Weighted average exercise price of stock option awards granted (in usd per share)         14.75
Weighted average exercise price of stock option awards exercised (in usd per share)         3.12
Weighted average exercise price of stock option awards cancelled (in usd per share)         8.18
Weighted average exercise price, ending balance (in usd per share) $ 7.43       $ 7.43