Stock-Based Compensation - Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Number of Shares
Beginning balance (in shares)	2,009,513	2,405,957
Options exercised (in shares)	(80,571)	(369,375)
Options canceled and forfeited (in shares)	(25,601)	(27,069)
Ending balance (in shares)	1,903,341	2,009,513
Options vested and exercisable (in shares)	1,892,990
Options vested and expected to vest (in shares)	1,901,995
Weighted-Average Exercise Price
Beginning balance (in dollars per share)	$ 8.73	$ 8.54
Options exercised (in dollars per share)	4.70	6.94
Options canceled and forfeited (in dollars per share)	15.05	15.85
Ending balance (in dollars per share)	8.82	$ 8.73
Options vested and exercisable (in dollars per share)	8.75
Options vested and expected to vest (in dollars per share)	$ 8.81
Weighted-Average Remaining Contractual Life and Aggregate Intrinsic Value
Weighted-average remaining contractual life, options outstanding (in years)	3 years 11 months 1 day
Weighted-average remaining contractual life, options vested and exercisable (in years)	3 years 10 months 28 days
Weighted-average remaining contractual life, options vested and expected to vest (in years)	3 years 11 months 8 days
Aggregate intrinsic value, options outstanding	$ 12,919
Aggregate intrinsic value, options vested and exercisable	12,919
Aggregate intrinsic value, options vested and expected to vest	$ 12,919