Share-based Compensation and Equity - Equity Award Modifications (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Exercise prices (in dollars per share)	$ 5.74	$ 7.00	$ 9.89	$ 17.85
Number of stock options outstanding (in shares)	363	559	2,163	3,428
Stock compensation expense	$ 7,114	$ 8,776	$ 10,172
Stock compensation expense not yet recognized, options	$ 0