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Stock-Based Compensation - Restricted Stock, Restricted Stock Unit and Stock Option Activity, Terms and Significant Assumptions for Options (Details) - $ / shares
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
RSUs      
Restricted Stock Units or Restricted Stock, Number      
Beginning balance (in shares) 1,911,712 2,258,594 1,660,311
Granted (in shares) 415,356 596,391 1,355,975
Forfeited or expired (in shares) (2,937) (132,713) (114,352)
Vested/exercised (in shares) (957,640) (810,560) (643,340)
Ending balance (in shares) 1,366,491 1,911,712 2,258,594
Restricted Stock Units or Restricted Stock, Weighted Average Grant Date Fair Value Per Share      
Beginning balance (in dollars per share) $ 17.16 $ 21.76 $ 39.88
Granted (in dollars per share) 22.36 18.67 10.30
Forfeited or expired (in dollars per share) 25.55 18.78 33.74
Vested/exercised (in dollars per share) 22.01 30.83 42.23
Ending balance (in dollars per share) $ 15.33 $ 17.16 $ 21.76
Stock Options      
Stock Options, Number      
Beginning balance (in shares) 5,490,926 5,752,932 5,381,477
Granted (in shares) 250,656 481,626 975,290
Forfeited or expired (in shares) (846,621) (659,216) (603,835)
Vested/exercised (in shares) (217,397) (84,416) 0
Ending balance (in shares) 4,677,564 5,490,926 5,752,932
Options exercisable (in shares) 3,689,284    
Remaining unvested options outstanding and expected to vest (in shares) 978,397    
Stock Options, Weighted Average Exercise Price Per Share      
Beginning balance (in dollars per share) $ 40.95 $ 44.40 $ 52.13
Granted (in dollars per share) 21.90 17.96 11.06
Forfeited or expired (in dollars per share) 61.46 58.37 59.46
Vested/exercised (in dollars per share) 15.20 8.81 0
Ending balance (in dollars per share) 37.41 $ 40.95 $ 44.40
Options exercisable (in dollars per share) 43.03    
Remaining unvested options outstanding and expected to vest (in dollars per share) $ 16.46