Share-based Compensation and Equity - Summary of Stock Options Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Options
Outstanding, of period (in shares)	559	2,163	3,428
Granted (in shares)	0	0	0
Exercised (in shares)	(194)	(1,510)	(583)
Forfeited or expired (in shares)	(2)	(94)	(682)
Outstanding, end of period (in shares)	363	559	2,163
Exercisable (in shares)	363	559	2,163
Vested and expected to vest (in shares)	363	559	2,163
Weighted Average Exercise Price
Outstanding, beginning of period (in dollars per share)	$ 7.00	$ 9.89	$ 17.85
Granted (in dollars per share)	0	0	0
Exercised (in dollars per share)	8.00	9.43	12.25
Forfeited or expired (in dollars per share)	8.34	23.17	20.14
Outstanding, end of period (in dollars per share)	5.74	7.00	9.89
Exercisable (in dollars per share)	5.74	7.00	9.89
Vested and expected to vest (in dollars per share)	$ 5.74	$ 7.00	$ 9.89
Aggregate Intrinsic Value
Outstanding, beginning of period	$ 1,461	$ 6,098	$ 159
Exercised	1,044	4,080	883
Outstanding, end of period	2,890	1,461	6,098
Exercisable intrinsic value	2,890	1,461	6,098
Vested and expected to vest, intrinsic value	$ 2,890	$ 1,461	$ 6,098