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Stock-Based Compensation - Stock and Performance Options Rollforward (Details)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
USD ($)
$ / shares
shares
Shares  
Beginning balance (in shares) | shares 2,990,094
Granted (in shares) | shares 10,850
Exercised (in shares) | shares (161,704)
Forfeited (in shares) | shares (10,943)
Expired (in shares) | shares (565,452)
Ending balance (in shares) | shares 2,262,845
Exercisable at December 31, 2021 (in shares) | shares 2,175,021
Weighted Average Exercise Price  
Beginning balance (in usd per share) | $ / shares $ 12.72
Granted (in usd per share) | $ / shares 20.51
Exercised (in usd per share) | $ / shares 7.15
Forfeited (in usd per share) | $ / shares 10.53
Expired (in usd per share) | $ / shares 31.17
Ending balance (in usd per share) | $ / shares 8.55
Exercisable at December 31, 2020 (in usd per share) | $ / shares $ 8.43
Weighted average remaining contractual term (in years), outstanding 3 years 8 months 4 days
Weighted average remaining contractual term (in years), exercisable 3 years 6 months 14 days
Aggregate intrinsic value, outstanding | $ $ 18,792
Aggregate intrinsic value, exercisable | $ $ 18,302