Net Loss Per Share (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Net loss	$ (15,676)	$ (15,000)
Weighted-average shares outstanding – basic (in shares)	45,732	44,887
Weighted-average shares outstanding – diluted (in shares)	45,732	44,887
Net loss per share – basic (in dollars per share)	$ (0.34)	$ (0.33)
Net loss per share – diluted (in dollars per share)	$ (0.34)	$ (0.33)
Stock Award Plans
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Anti-dilutive weighted-average shares (in shares)	3,276	3,634
Convertible Senior Notes and Warrants
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Anti-dilutive weighted-average shares (in shares)	11,816	11,816