Stock-Based Compensation - Stock-based Compensation Activity (Details) shares in Thousands	9 Months Ended
	Sep. 30, 2023 $ / shares shares
Options outstanding
Beginning balance (in shares) | shares	1,029
Exercised (in shares) | shares	(88)
Canceled/forfeited (in shares) | shares	(12)
Ending balance (in shares) | shares	929
Weighted average exercise price
Beginning balance (in dollars per share) | $ / shares	$ 12.82
Exercised (in dollars per share) | $ / shares	9.98
Canceled/forfeited (in dollars per share) | $ / shares	13.29
Ending balance (in dollars per share) | $ / shares	$ 13.10
Restricted Stock Unit Awards
Restricted Stock Unit Awards
Beginning balance (in shares) | shares	512
Granted (in shares) | shares	622
Vested (in shares) | shares	(207)
Canceled/forfeited (in shares) | shares	(65)
Ending balance (in shares) | shares	862
Weighted average award value
Beginning balance (in dollars per share) | $ / shares	$ 35.96
Granted (in dollars per share) | $ / shares	35.74
Vested (in dollars per share) | $ / shares	32.46
Canceled/forfeited (in dollars per share) | $ / shares	39.12
Ending balance (in dollars per share) | $ / shares	$ 35.83