Stockholders Equity - Compensation Expense by Type of Award (Details) - USD ($) $ in Thousands |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2022 |
Dec. 31, 2021 |
Dec. 31, 2020 |
|
| Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] | |||
| Stock-based compensation expense | $ 14,652 | $ 22,735 | $ 24,460 |
| Stock options | |||
| Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] | |||
| Stock-based compensation expense | 6,839 | 8,958 | 8,517 |
| Restricted stock units | |||
| Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] | |||
| Stock-based compensation expense | 7,566 | 12,927 | 14,639 |
| Performance RSUs | |||
| Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] | |||
| Stock-based compensation expense | 100 | 294 | 464 |
| Employee stock purchase plan | |||
| Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] | |||
| Stock-based compensation expense | $ 147 | $ 556 | $ 840 |