Stock-Based Compensation - Summary of restricted stock awards outstanding (Details) - Restricted stock shares in Thousands	3 Months Ended
	Mar. 31, 2023 $ / shares shares
Shares
Unvested at beginning of period (in shares) | shares	1,679
Granted (in shares) | shares	1,358
Vested (in shares) | shares	(316)
Canceled and forfeited (in shares) | shares	(94)
Unvested at end of period (in shares) | shares	2,627
Weighted average grant date fair value
Unvested at beginning of period (in dollars per share) | $ / shares	$ 3.23
Granted (in dollars per share) | $ / shares	1.63
Vested (in dollars per share) | $ / shares	4.30
Canceled and forfeited (in dollars per share) | $ / shares	3.75
Unvested at end of period (in dollars per share) | $ / shares	$ 4.75