Stock-Based Compensation - Stock-based Compensation Activity (Details) shares in Thousands	3 Months Ended
	Mar. 31, 2023 $ / shares shares
Options outstanding
Beginning balance (in shares) | shares	1,029
Exercised (in shares) | shares	(5)
Canceled/forfeited (in shares) | shares	(3)
Ending balance (in shares) | shares	1,021
Weighted average exercise price
Beginning balance (in dollars per share) | $ / shares	$ 12.82
Exercised (in dollars per share) | $ / shares	10.34
Canceled/forfeited (in dollars per share) | $ / shares	12.86
Ending balance (in dollars per share) | $ / shares	$ 12.84
Restricted Stock Unit Awards
Restricted Stock and RSU Awards Outstanding
Beginning balance (in shares) | shares	512
Granted (in shares) | shares	301
Vested (in shares) | shares	(169)
Forfeited and cancelled (in shares) | shares	(10)
Ending balance (in shares) | shares	634
Weighted average award value
Beginning balance (in dollars per share) | $ / shares	$ 35.96
Granted (in dollars per share) | $ / shares	35.82
Vested (in dollars per share) | $ / shares	29.72
Forfeited and canceled (in dollars per share) | $ / shares	41.70
Ending balance (in dollars per share) | $ / shares	$ 36.68