Share-based Compensation and Equity - Summary of Stock Options Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Options
Outstanding, of period (in shares)	2,163	3,428	5,388
Granted (in shares)	0	0	0
Exercised (in shares)	(1,510)	(583)	(860)
Forfeited or expired (in shares)	(94)	(682)	(1,100)
Outstanding, end of period (in shares)	559	2,163	3,428
Exercisable (in shares)	559	2,163	3,292
Vested and expected to vest (in shares)	559	2,163	3,426
Weighted Average Exercise Price
Outstanding, beginning of period (in dollars per share)	$ 9.89	$ 17.85	$ 18.18
Granted (in dollars per share)	0	0	0
Exercised (in dollars per share)	9.43	12.25	17.60
Forfeited or expired (in dollars per share)	23.17	20.14	19.66
Outstanding, end of period (in dollars per share)	7.00	9.89	17.85
Exercisable (in dollars per share)	7.00	9.89	17.97
Vested and expected to vest (in dollars per share)	$ 7.00	$ 9.89	$ 17.85
Aggregate Intrinsic Value
Outstanding, beginning of period	$ 6,098	$ 159	$ 3,396
Exercised	4,080	883	2,353
Outstanding, end of period	1,461	6,098	159
Exercisable intrinsic value	1,461	6,098	159
Vested and expected to vest, intrinsic value	$ 1,461	$ 6,098	$ 159