Equity Incentive Plans - Summary of Restricted Stock Activity (Details) - Restricted Stock - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]
Number of Restricted Stock Units Outstanding, Nonvested, beginning (in shares)	2,561,219	3,330,821	4,648,526
Number of Restricted Stock Units Outstanding, Granted (in shares)	572,901	1,349,885	2,003,900
Number of Restricted Stock Units Outstanding, Vested (in shares)	(1,592,588)	(1,391,476)	(2,557,377)
Number of Restricted Stock Units Outstanding, Forfeited/cancelled (in shares)	(191,497)	(728,011)	(764,228)
Number of Restricted Stock Units Outstanding, Nonvested, ending (in shares)	1,350,035	2,561,219	3,330,821
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]
Weighted-Average Grant Date Fair Value, Nonvested (in dollars per share)	$ 8.67	$ 7.16	$ 3.98
Weighted-Average Grant Date Fair Value, Granted (in dollars per share)	11.94	10.23	10.96
Weighted-Average Grant Date Fair Value, Vested (in dollars per share)	7.78	5.86	4.00
Weighted-Average Grant Date Fair Value, Forfeited/cancelled (in dollars per share)	10.68	10.03	8.30
Weighted-Average Grant Date Fair Value, Nonvested (in dollars per share)	$ 10.83	$ 8.67	$ 7.16