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Stockholders' Equity - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total stock-based compensation | $ 877 | $ 2,016 | $ 2,953 | $ 6,036
Performance-based RSUs |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total stock-based compensation | 362 | 447 | 1,205 | 1,202
Time-based RSUs, DSUs and restricted stock |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total stock-based compensation | 515 | 939 | 1,748 | 2,920
Equity in lieu of salary |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total stock-based compensation | 0 | 607 | 0 | 1,847
ESPP |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Total stock-based compensation | $ 0 | $ 23 | $ 0 | $ 67

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