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Stock-Based Compensation - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock-based compensation expense, tax benefit $ 1,000 $ 500 $ 200
Stock-based compensation 13,400 14,600 4,300
Unrecognized compensation expense 17,300    
Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock-based compensation 5,664 9,585 1,386
RSA      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock-based compensation 149 838 996
Performance-based RSA      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock-based compensation $ 147 $ 776 $ 786
Minimum | RSA      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period 1 year    
Minimum | RSA and RSU      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period 1 year    
Maximum | RSA      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period 3 years    
Maximum | RSA and RSU      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period 4 years    
Equity Incentive Plan 2015      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of shares authorized under plan approved by directors (in shares) 2,700,000    
Equity Incentive Plan 2015 | Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expiration period 10 years    
Equity Incentive Plan 2015 | Minimum | Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period 1 year    
Equity Incentive Plan 2015 | Maximum | Stock Options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period 4 years