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Stockholders' Equity - Summary of Stock Based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock based compensation | $ 3,827 | $ 7,239 | $ 5,508
Performance-based RSUs |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock based compensation | 1,559 | 1,608 | 2,019
Time-based RSUs and restricted stock |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock based compensation | 2,260 | 3,754 | 3,389
Equity in lieu of salary |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock based compensation | 0 | 1,845 | 0
ESPP |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock based compensation | $ 8 | $ 32 | $ 100

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