Stock-Based Compensation - Schedule of Activity With Respect to RSAs and RSUs (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Weighted Average grant- date fair value
Stock-based compensation	$ 13,400	$ 14,600	$ 4,300
RSA
Shares
Beginning balance (in shares)	27
Restricted stock awards vested (in shares)	(27)	(34)	(112)
Restricted stock awards canceled/forfeited (in shares)	0	(2)	(5)
Non-vested awards outstanding (in shares)	0	27
Weighted Average grant- date fair value
Beginning balance (in dollars per share)	$ 25.42
Weighted average grant date fair value (in dollars per share)	0	$ 22.30	$ 30.96
Vested (in dollars per share)	25.42
Ending balance (in dollars per share)		$ 25.42
Stock-based compensation	$ 149	$ 838	$ 996
Service-based RSA
Weighted Average grant- date fair value
Stock-based compensation	$ 2	$ 62	$ 210
Performance-based RSA
Shares
Restricted stock awards canceled/forfeited (in shares)	0	(1)	(4)
Weighted Average grant- date fair value
Stock-based compensation	$ 147	$ 776	$ 786
RSU
Shares
Beginning balance (in shares)	418
Restricted stock awards granted (in shares)	379
Restricted stock awards vested (in shares)	(168)
Restricted stock awards canceled/forfeited (in shares)	(117)
Non-vested awards outstanding (in shares)	512	418
Weighted Average grant- date fair value
Beginning balance (in dollars per share)	$ 34.08
Weighted average grant date fair value (in dollars per share)	37.90
Vested (in dollars per share)	28.41
Canceled/forfeited (in dollars per share)	45.79
Ending balance (in dollars per share)	$ 35.96	$ 34.08
Stock-based compensation	$ 7,611	$ 4,192	1,869
Service-based RSU
Weighted Average grant- date fair value
Stock-based compensation	6,775	3,353	1,587
Performance-based RSU
Weighted Average grant- date fair value
Stock-based compensation	$ 836	$ 839	$ 282

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The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(2)(ii)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
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-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(2)(i)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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-Publisher FASB
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-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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