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Stock Benefit Plans and Stock-Based Compensation - Additional Information (Details) - USD ($) |  | 1 Months Ended | 3 Months Ended | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | --- | ---
Jun. 16, 2021 | Jul. 31, 2019 | Sep. 30, 2016 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Jun. 17, 2020 | Apr. 08, 2020 | Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Common stock reserved for future issuance |  |  |  | 46,129,000 |  |  |  |  |
Straight-line basis over a weighted average period |  |  |  | 1 year 9 months |  |  |  |  |
Stock-based compensation |  |  |  | $ 40,556,000 | $ 36,450,000 | $ 17,659,000 |  |  |
Common Stock |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of warrants available to be granted |  |  |  | 295,000 |  |  |  |  |
Maximum |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Award vesting period |  |  |  | 4 years |  |  |  |  |
Employee Stock Option |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Common stock reserved for future issuance |  |  |  | 2,916,000 |  |  |  |  |
Weighted-average grant-date fair value of stock options granted |  |  |  |  | $ 9.88 | $ 4.71 |  |  |
Stock options granted |  |  |  | 0 |  |  |  |  |
Total intrinsic value of stock options exercised |  |  |  | $ 3,400,000 | $ 6,800,000 | $ 2,300,000 |  |  |
Share price |  |  |  | $ 12.35 |  |  |  |  |
Unrecognized compensation expense for stock options and awards expected to be recognized |  |  |  | $ 300,000 |  |  |  |  |
Unvested Restricted Stock Award |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Restricted shares granted under the plan |  |  |  | 3,909,000 |  |  |  |  |
Straight-line basis over a weighted average period |  |  |  | 1 year 5 months 4 days |  |  |  |  |
Weighted average grant-date fair value of awards granted |  |  |  | $ 8.13 | $ 12.79 | $ 4.87 |  |  |
Unrecognized compensation expense for restricted stock awards, restricted stock units and performance-based restricted units expected to be recognized |  |  |  | $ 41,400,000 |  |  |  |  |
Total fair value of awards vested |  |  |  | $ 35,200,000 | $ 43,900,000 | $ 13,100,000 |  |  |
ESPP |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Common stock reserved for future issuance |  |  |  | 119,000 |  |  |  |  |
Number of shares available for grant | 500,000,000 |  |  |  |  |  |  |  |
Employee stock purchase plan, maximum annual compensation percentage | 20.00% |  |  |  |  |  |  |  |
Employee stock purchase plan, maximum annual compensation amount | $ 21,250 |  |  |  |  |  |  |  |
Purchase price equal to the lower of the fair market value per share (at closing) of Company common stock | 85.00% |  |  |  |  |  |  |  |
Employee stock purchase plan, offering period | 6 months |  |  |  |  |  |  |  |
Shares of common stock issued under the ESPP |  |  |  | 429,000,000 | 227,000 | 379,000 |  |  |
Stock-based compensation |  |  |  | $ 1,600,000 | $ 1,100,000 | $ 1,000,000.0 |  |  |
2016 Equity Incentive Plan |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Common stock reserved for future issuance |  |  | 1,083,333 |  |  |  |  |  |
Number of shares available for grant |  |  |  | 791,000 |  |  | 7,000,000 |  |
2016 Equity Incentive Plan | Employee Stock Option |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Expiration period |  |  | 10 years |  |  |  |  |  |
Award vesting period |  |  | 4 years |  |  |  |  |  |
Exercise price minimum percentage of market price on grant date |  |  | 100.00% |  |  |  |  |  |
2016 Equity Incentive Plan | Employee Stock Option | 10 Percent Stockholder |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Expiration period |  |  | 5 years |  |  |  |  |  |
Exercise price minimum percentage of market price on grant date |  |  | 110.00% |  |  |  |  |  |
Inducement Plan |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Common stock reserved for future issuance |  |  |  | 477,000 |  |  |  |  |
Maximum award to be deductible other than options |  |  |  | $ 1,000,000.0 |  |  |  |  |
2019 Management Objective Strategic Incentive Plan | Common Stock |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares available for grant |  |  |  | 12,500 |  |  |  |  |
2019 Management Objective Strategic Incentive Plan | Board of Directors Chairman | Common Stock |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Share authorized grant of warrants |  | 500,000 |  |  |  |  |  |  |
Maximum grant of shares per participant |  | 50,000 |  |  |  |  |  |  |
2019 Management Objective Strategic Incentive Plan | Unvested Restricted Stock Award |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares available for grant |  |  |  | 213,000 |  |  |  |  |
2017 Distributor Inducement Plan | Common Stock |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Common stock issued |  |  |  | 392,000 |  |  |  |  |
Number of warrants available to be granted |  |  |  | 305,000 |  |  |  |  |
2017 Distributor Inducement Plan | Board of Directors Chairman | Common Stock |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Share authorized grant of warrants |  |  |  |  |  |  |  |  | 1,000,000
2017 Distributor Inducement Plan | Restricted Common Stock |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Restricted shares granted under the plan |  |  |  | 414,000 |  |  |  |  |
Two Thousand Seventeen Development Services Plan | Board of Directors Chairman | Common Stock |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares available for grant |  |  |  | 0 |  |  |  | 8,000,000 |

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