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Stock-Based Compensation - Restricted Stock Unit Activity (Details) - Restricted Stock Units (RSUs) - $ / shares
shares in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Incentive Plan      
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Unvested RSU beginning balance (in shares) 4,159    
Issued RSU (in shares) 3,106    
Vested RSU (in shares) (1,137)    
Forfeited RSU (in shares) (536)    
Unvested RSU ending balance (in shares) 5,592 4,159  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]      
Nonvested RSU weighted average grant date fair value beginning balance (in dollars per share) $ 10.69    
Restricted stock units, grants in period, weighted average grant date fair value (in dollars per share) 6.71 $ 11.20 $ 11.36
Restricted stock units, vested in period, weighted average grant date fair value (in dollars per share) 11.04    
Restricted stock units, forfeited in period, weighted average grant date fair value (in dollars per share) 7.91    
Nonvested RSU weighted average grant date fair value ending balance (in dollars per share) $ 8.67 $ 10.69  
Inducement Plan      
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Number of Shares [Roll Forward]      
Unvested RSU beginning balance (in shares) 588    
Issued RSU (in shares) 581    
Vested RSU (in shares) (139)    
Forfeited RSU (in shares) (115)    
Unvested RSU ending balance (in shares) 915 588  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]      
Nonvested RSU weighted average grant date fair value beginning balance (in dollars per share) $ 13.14    
Restricted stock units, grants in period, weighted average grant date fair value (in dollars per share) 7.81    
Restricted stock units, vested in period, weighted average grant date fair value (in dollars per share) 13.13    
Restricted stock units, forfeited in period, weighted average grant date fair value (in dollars per share) 11.98    
Nonvested RSU weighted average grant date fair value ending balance (in dollars per share) $ 9.90 $ 13.14