Stock Based Compensation - Share Based Compensation Activity (Details) shares in Thousands	9 Months Ended
	Sep. 30, 2021 $ / shares shares
Options outstanding
Beginning balance (in shares) | shares	957
Granted (in shares) | shares	563
Exercised (in shares) | shares	(76)
Canceled/forfeited (in shares) | shares	(80)
Ending balance (in shares) | shares	1,364
Weighted average exercise price
Beginning balance (in dollars per share) | $ / shares	$ 14.29
Granted (in dollars per share) | $ / shares	7.79
Exercised (in dollars per share) | $ / shares	10.92
Canceled/forfeited (in dollars per share) | $ / shares	13.02
Ending balance (in dollars per share) | $ / shares	$ 11.87
Restricted Stock Unit Awards
Restricted Stock and RSU Awards Outstanding
Beginning balance (in shares) | shares	427
Granted (in shares) | shares	197
Vested (in shares) | shares	(130)
Forfeited and cancelled (in shares) | shares	(27)
Beginning balance (in shares) | shares	467
Weighted average award value
Beginning balance (in dollars per share) | $ / shares	$ 15.46
Granted (in dollars per share) | $ / shares	66.24
Vested (in dollars per share) | $ / shares	16.63
Forfeited and canceled (in dollars per share) | $ / shares	71.87
Ending balance (in dollars per share) | $ / shares	$ 33.24