Stockholders' Equity - Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Options
Options outstanding, beginning balance (in shares)	4,782	4,332	5,799
Granted (in shares)	993	1,705	737
Exercised (in shares)	(264)	(863)	(1,683)
Cancelled or expired (in shares)	(1,052)	(392)	(521)
Options outstanding, ending balance (in shares)	4,459	4,782	4,332
Options vested and expected to vest	1,047	1,419	1,470
Options exercisable	2,758	2,564	2,280
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]
Options outstanding, beginning balance (in dollars per share)	$ 27.52	$ 19.78	$ 16.57
Granted (in dollars per share)	20.34	48.24	31.21
Exercised (in dollars per share)	5.07	13.55	12.69
Cancelled (in dollars per share)	41.56	32.94	23.27
Options outstanding, ending balance (in dollars per share)	24.25	27.52	19.78
Options vested and expected to vest (in dollars per share)	29.80	36.41	23.88
Options exercisable (in dollars per share)	$ 21.26	$ 17.87	$ 14.80
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Options outstanding	6 years 29 days	6 years 9 months 7 days	7 years 14 days
Options vested and expected to vest	8 years 21 days	8 years 7 months 9 days	8 years 5 months 8 days
Options exercisable	4 years 11 months 8 days	5 years 18 days	5 years 7 months 24 days
Aggregate Intrinsic Value
Options outstanding	$ 1,327	$ 62,300	$ 183,825
Options vested and expected to vest	242	11,387	56,382
Options exercisable	$ 986	$ 46,932	$ 108,128