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Stock-based Compensation - Restricted Stock Unit Activity (Details) - Unvested restricted stock unit awards - $ / shares
shares in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Incentive Plan    
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]    
Unvested RSU beginning balance (in shares) 5,592  
Issued RSU (in shares) 128  
Vested RSU (in shares) (96)  
Forfeited RSU (in shares) (313)  
Unvested RSU ending balance (in shares) 5,311  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]    
Nonvested RSU weighted average grant date fair value beginning balance (in dollars per share) $ 8.67  
Restricted stock units, grants in period, weighted average grant date fair value (in dollars per share) 5.30 $ 10.32
Restricted stock units, vested in period, weighted average grant date fair value (in dollars per share) 12.30  
Restricted stock units, forfeited in period, weighted average grant date fair value (in dollars per share) 8.65  
Nonvested RSU weighted average grant date fair value ending balance (in dollars per share) $ 8.52  
Inducement Plan    
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]    
Unvested RSU beginning balance (in shares) 915  
Issued RSU (in shares) 63  
Vested RSU (in shares) (59)  
Forfeited RSU (in shares) (106)  
Unvested RSU ending balance (in shares) 813  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]    
Nonvested RSU weighted average grant date fair value beginning balance (in dollars per share) $ 9.90  
Restricted stock units, grants in period, weighted average grant date fair value (in dollars per share) 5.25 $ 9.64
Restricted stock units, vested in period, weighted average grant date fair value (in dollars per share) 11.96  
Restricted stock units, forfeited in period, weighted average grant date fair value (in dollars per share) 10.41  
Nonvested RSU weighted average grant date fair value ending balance (in dollars per share) $ 9.32