Stock-Based Compensation - Stock-based Compensation Activity (Details) shares in Thousands	3 Months Ended
	Mar. 31, 2022 $ / shares shares
Options outstanding
Beginning balance (in shares) | shares	1,306
Exercised (in shares) | shares	(96)
Canceled/forfeited (in shares) | shares	(68)
Ending balance (in shares) | shares	1,142
Weighted average exercise price
Beginning balance (in dollars per share) | $ / shares	$ 11.95
Exercised (in dollars per share) | $ / shares	7.43
Canceled/forfeited (in dollars per share) | $ / shares	8.97
Ending balance (in dollars per share) | $ / shares	$ 12.52
Restricted Stock Unit Awards
Restricted Stock and RSU Awards Outstanding
Beginning balance (in shares) | shares	418
Granted (in shares) | shares	309
Vested (in shares) | shares	(71)
Forfeited and cancelled (in shares) | shares	(49)
Beginning balance (in shares) | shares	607
Weighted average award value
Beginning balance (in dollars per share) | $ / shares	$ 34.08
Granted (in dollars per share) | $ / shares	38.34
Vested (in dollars per share) | $ / shares	26.36
Forfeited and canceled (in dollars per share) | $ / shares	46.39
Ending balance (in dollars per share) | $ / shares	$ 36.02
Restricted Stock Awards
Restricted Stock and RSU Awards Outstanding
Beginning balance (in shares) | shares	27
Vested (in shares) | shares	(27)
Beginning balance (in shares) | shares	0
Weighted average award value
Beginning balance (in dollars per share) | $ / shares	$ 25.42
Vested (in dollars per share) | $ / shares	25.42
Ending balance (in dollars per share) | $ / shares