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Stock-Based Compensation - Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]      
Options exercised (in shares) (1,276)    
Incentive Plan      
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]      
Options, exercises in period, intrinsic value   $ 21,150 $ 25,484
Inducement Plan      
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]      
Options, exercises in period, intrinsic value   $ 3,710 $ 6,700
Share-based Payment Arrangement, Option | Incentive Plan      
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]      
Options outstanding, beginning balance (in shares) 31,179    
Options, grants in period, gross (in shares) 6,625    
Options exercised (in shares) (935)    
Options cancelled or forfeited (in shares) (1,364)    
Options outstanding, ending balance (in shares) 35,505 31,179  
Options exercisable (in shares) 21,008    
Number of stock option awards vested and expected to vest (in shares) 33,557    
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]      
Weighted average exercise price, beginning balance (in dollars per share) $ 8.56    
Weighted average exercise price, stock option awards granted (in dollars per share) 6.67    
Weighted average exercise price, stock option awards exercised (in dollars per share) 5.21    
Weighted average exercise price, stock option awards cancelled (in dollars per share) 10.00    
Weighted average exercise price, ending balance (in dollars per share) 8.24 $ 8.56  
Weighted average exercise price, stock option awards, exercisable (in dollars per share) 7.87    
Weighted average exercise price of stock option awards vested and expected to vest (in dollars per share) $ 8.19    
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]      
Weighted average remaining contractual life 6 years 10 months 6 days    
Options, exercises in period, intrinsic value $ 3,601    
Options outstanding, aggregate intrinsic value $ 12,280    
Options, exercisable, weighted average remaining contractual term (year) 5 years 5 months 8 days    
Stock option awards vested and expected to vest, weighted average remaining contractual life (year) 6 years 9 months 7 days    
Options, aggregate intrinsic value $ 12,280    
Options, exercisable, aggregate intrinsic value $ 12,280    
Share-based Payment Arrangement, Option | Inducement Plan      
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]      
Options outstanding, beginning balance (in shares) 5,341    
Options, grants in period, gross (in shares) 1,196    
Options exercised (in shares) (344)    
Options cancelled or forfeited (in shares) (666)    
Options outstanding, ending balance (in shares) 5,527 5,341  
Options exercisable (in shares) 2,448    
Number of stock option awards vested and expected to vest (in shares) 5,122    
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]      
Weighted average exercise price, beginning balance (in dollars per share) $ 8.80    
Weighted average exercise price, stock option awards granted (in dollars per share) 8.15    
Weighted average exercise price, stock option awards exercised (in dollars per share) 3.70    
Weighted average exercise price, stock option awards cancelled (in dollars per share) 10.47    
Weighted average exercise price, ending balance (in dollars per share) 8.77 $ 8.80  
Weighted average exercise price, stock option awards, exercisable (in dollars per share) 7.17    
Weighted average exercise price of stock option awards vested and expected to vest (in dollars per share) $ 8.68    
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Additional Disclosures [Abstract]      
Weighted average remaining contractual life 7 years 9 months 3 days    
Options, exercises in period, intrinsic value $ 1,803    
Options outstanding, aggregate intrinsic value $ 4,463    
Options, exercisable, weighted average remaining contractual term (year) 6 years 10 months 20 days    
Stock option awards vested and expected to vest, weighted average remaining contractual life (year) 7 years 8 months 19 days    
Options, aggregate intrinsic value $ 3,434    
Options, exercisable, aggregate intrinsic value $ 4,291