Stock-Based Compensation - Stock-based Compensation Activity (Details) shares in Thousands	6 Months Ended
	Jun. 30, 2023 $ / shares shares
Options outstanding
Beginning balance (in shares) | shares	1,029
Exercised (in shares) | shares	(14)
Canceled/forfeited (in shares) | shares	(12)
Ending balance (in shares) | shares	1,003
Weighted average exercise price
Beginning balance (in dollars per share) | $ / shares	$ 12.82
Exercised (in dollars per share) | $ / shares	11.73
Canceled/forfeited (in dollars per share) | $ / shares	13.11
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	620
Vested (in shares) | shares	(203)
Forfeited and cancelled (in shares) | shares	(49)
Ending balance (in shares) | shares	880
Weighted average award value
Beginning balance (in dollars per share) | $ / shares	$ 35.96
Granted (in dollars per share) | $ / shares	34.30
Vested (in dollars per share) | $ / shares	32.06
Forfeited and canceled (in dollars per share) | $ / shares	39.20
Ending balance (in dollars per share) | $ / shares	$ 34.94