Stock-based Compensation - Option Activity (Details) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2024 USD ($) $ / shares shares
Incentive Plan
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]
Options, grants in period, gross (in shares)	0
Outstanding stock options | Incentive Plan
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]
Options outstanding, beginning balance (in shares)	35,505,000
Options, grants in period, gross (in shares)	0
Options exercised (in shares)	(48,000)
Options cancelled or forfeited (in shares)	(1,068,000)
Options outstanding, ending balance (in shares)	34,389,000
Options exercisable (in shares)	20,922,000
Number of stock option awards vested and expected to vest (in shares)	31,784,000
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Weighted average exercise price, beginning balance (in usd per share) | $ / shares	$ 8.24
Weighted average exercise price of stock option awards granted (in usd per share) | $ / shares	0
Weighted average exercise price of stock option awards exercised (in usd per share) | $ / shares	3.27
Weighted average exercise price of stock option awards cancelled (in usd per share) | $ / shares	9.60
Weighted average exercise price, ending balance (in usd per share) | $ / shares	8.20
Weighted average exercise price, stock option awards, exercisable (in dollars per share) | $ / shares	7.88
Weighted average exercise price of stock option awards vested and expected to vest (in dollars per share) | $ / shares	$ 8.13
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]
Weighted average remaining contractual life | $	$ 103
Options, exercises in period, intrinsic value	6 years 7 months 9 days
Options outstanding, aggregate intrinsic value | $	$ 6,951
Options, exercisable, weighted average remaining contractual term (year)	5 years 3 months 18 days
Stock option awards vested and expected to vest, weighted average remaining contractual life (year) | $	$ 6,951
Options, aggregate intrinsic value	6 years 5 months 26 days
Options, exercisable, aggregate intrinsic value | $	$ 6,951
Outstanding stock options | Inducement Plan
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]
Options outstanding, beginning balance (in shares)	5,527,000
Options, grants in period, gross (in shares)	92,000
Options exercised (in shares)	(128,000)
Options cancelled or forfeited (in shares)	(300,000)
Options outstanding, ending balance (in shares)	5,191,000
Options exercisable (in shares)	2,628,000
Number of stock option awards vested and expected to vest (in shares)	4,684,000
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Weighted average exercise price, beginning balance (in usd per share) | $ / shares	$ 8.77
Weighted average exercise price of stock option awards granted (in usd per share) | $ / shares	5.25
Weighted average exercise price of stock option awards exercised (in usd per share) | $ / shares	3.09
Weighted average exercise price of stock option awards cancelled (in usd per share) | $ / shares	10.86
Weighted average exercise price, ending balance (in usd per share) | $ / shares	8.73
Weighted average exercise price, stock option awards, exercisable (in dollars per share) | $ / shares	7.53
Weighted average exercise price of stock option awards vested and expected to vest (in dollars per share) | $ / shares	$ 8.59
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]
Weighted average remaining contractual life | $	$ 274
Options, exercises in period, intrinsic value	7 years 6 months 10 days
Options outstanding, aggregate intrinsic value | $	$ 2,454
Options, exercisable, weighted average remaining contractual term (year)	6 years 9 months 3 days
Stock option awards vested and expected to vest, weighted average remaining contractual life (year) | $	$ 2,128
Options, aggregate intrinsic value	7 years 5 months 15 days
Options, exercisable, aggregate intrinsic value | $	$ 2,373