Stock-Based Compensation - Schedule of Information With Respect to Stock Options (Details) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2021 USD ($) $ / shares shares
Number of Shares
Beginning balance (in shares)	957
Options granted (in shares)	564
Options exercised (in shares)	(104)
Options forfeited (in shares)	(111)
Ending balance (in shares)	1,306
Vested and expected to vest at December 31, 2021 (in shares)	1,295
Total shares exercisable as of December 31, 2021 (in shares)	799
Shares remaining available for grant (in shares)	449
Weighted Average Exercise Price
Beginning balance (in dollars per share) | $ / shares	$ 14.29
Options granted (in dollars per share) | $ / shares	7.88
Options exercised (in dollars per share) | $ / shares	11.01
Options forfeited (in dollars per share) | $ / shares	11.94
Ending balance (in dollars per share) | $ / shares	11.95
Vested and expected to vest at December 31, 2021 (in dollars per share) | $ / shares	11.95
Total shares exercisable as of December 31, 2021 (in dollars per share) | $ / shares	$ 11.72
Outstanding at December 31, 2021 | $	$ 54,443
Vested and expected to vest at December 31, 2021 | $	53,990
Total shares exercisable at December 31, 2021 | $	$ 33,486