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Stock-based Compensation - Stock Plan Activities (Details) - $ / shares
shares in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Sep. 30, 2022
Options Outstanding              
Options outstanding, stock option awards exercised (in shares) (390) (51) (1,108) (942) (1,056) (593)  
Incentive Plan              
Awards Available              
Awards available, beginning balance (in shares)     3,651       3,651
Plan amendment (in shares)             8,000
Awards available, restricted stock awards granted (in shares)             (681)
Awards available, restricted stock awards cancelled (in shares)             218
Awards available, stock option awards granted (in shares)             (813)
Awards available, stock option awards cancelled (in shares)             787
Awards available, ending balance (in shares) 11,162           11,162
Options Outstanding              
Options outstanding, beginning balance (in shares)     28,685       28,685
Options outstanding, stock option awards granted ( in shares)             813
Options outstanding, stock option awards exercised (in shares)             (1,334)
Options outstanding, stock option awards cancelled (in shares)             (787)
Options outstanding, ending balance (in shares) 27,377           27,377
Weighted Average Exercise Price              
Weighted average exercise price, beginning balance (in usd per share)     $ 7.90       $ 7.90
Weighted average exercise price of stock option awards granted (in usd per share)             11.10
Weighted average exercise price of stock option awards exercised (in usd per share)             5.65
Weighted average exercise price of stock option awards cancelled (in usd per share)             10.02
Weighted average exercise price, ending balance (in usd per share) $ 8.04           $ 8.04
Inducement Plan              
Awards Available              
Awards available, beginning balance (in shares)     900       900
Plan amendment (in shares)             1,926
Awards available, restricted stock awards granted (in shares)             (424)
Awards available, restricted stock awards cancelled (in shares)             2
Awards available, stock option awards granted (in shares)             (1,381)
Awards available, stock option awards cancelled (in shares)             323
Awards available, ending balance (in shares) 1,346           1,346
Options Outstanding              
Options outstanding, beginning balance (in shares)     4,408       4,408
Options outstanding, stock option awards granted ( in shares)             1,381
Options outstanding, stock option awards exercised (in shares)             (196)
Options outstanding, stock option awards cancelled (in shares)             (323)
Options outstanding, ending balance (in shares) 5,270           5,270
Weighted Average Exercise Price              
Weighted average exercise price, beginning balance (in usd per share)     $ 6.20       $ 6.20
Weighted average exercise price of stock option awards granted (in usd per share)             13.84
Weighted average exercise price of stock option awards exercised (in usd per share)             3.77
Weighted average exercise price of stock option awards cancelled (in usd per share)             7.02
Weighted average exercise price, ending balance (in usd per share) $ 8.28           $ 8.28