Equity Incentive Plans - Summary of Options Activity (Details) - $ / shares shares in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2021	Dec. 31, 2020
Summary of the activity of stock option awards, shares
Options outstanding, Beginning Balance (in Shares)	1,951
Options granted (in shares)	478
Options forfeited/canceled/expired (in shares)	(482)
Options outstanding, Ending Balance (in Shares)	1,947	1,951
Options vested and expected to vest (in Shares)	1,864
Options exercisable (in Shares)	1,170
Summary of the activity of stock option awards, weighted average exercise price
Options outstanding, Beginning Balance, Wtd. Avg. Exercise Price (in dollars per share)	$ 22.07
Options granted, Wtd. Avg. Exercise Price (in dollars per share)	7.52
Options forfeited/canceled/expired, Wtd. Avg. Exercise Price (in dollars per share)	16.49
Options outstanding, Ending Balance, Wtd. Avg. Exercise Price (in dollars per share)	19.89	$ 22.07
Options vested and expected to vest, Wtd. Average Exercise Price (in dollars per share)	17.57
Options exercisable, Wtd. Avg. Exercise Price (in dollars per share)	$ 24.16
Options outstanding, Ending Balance, Wtd. Avg. Remaining Contractual Term	6 years 4 months 28 days	6 years 7 months 13 days
Options vested and expected to vest, Wtd. Avg Remaining Contractual Term	6 years 3 months 21 days
Options exercisable, Wtd. Avg. Remaining Contractual Term	5 years 3 days