Stock-Based Compensation - Summary of restricted stock awards outstanding (Details) - Restricted stock shares in Thousands	9 Months Ended
	Sep. 30, 2022 $ / shares shares
Shares
Unvested at beginning of period (in shares) | shares	1,668
Granted (in shares) | shares	1,398
Vested (in shares) | shares	(972)
Canceled and forfeited (in shares) | shares	(208)
Unvested at end of period (in shares) | shares	1,886
Weighted average grant date fair value
Unvested at beginning of period (in dollars per share) | $ / shares	$ 5.83
Granted (in dollars per share) | $ / shares	3.76
Vested (in dollars per share) | $ / shares	4.92
Canceled and forfeited (in dollars per share) | $ / shares	6.08
Unvested at end of period (in dollars per share) | $ / shares	$ 4.74