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Stock-based Compensation - Stock Plan Activities (Details) - $ / shares
shares in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2022
Mar. 31, 2022
Jun. 30, 2023
Options Outstanding          
Options outstanding, stock option awards exercised (in shares) (608) (801) (51) (1,108)  
Incentive Plan          
Awards Available          
Awards available, beginning balance (in shares)   4,206     4,206
Awards available, plan amendment (in shares)         7,000
Awards available, restricted stock awards granted (in shares)         (314)
Awards available, restricted stock awards cancelled (in shares)         417
Awards available, stock option awards granted (in shares)         (618)
Awards available, stock option awards cancelled (in shares)         810
Awards available, ending balance (in shares) 11,501       11,501
Options Outstanding          
Options outstanding, beginning balance (in shares)   31,179     31,179
Options outstanding, stock option awards granted ( in shares)         618
Options outstanding, stock option awards exercised (in shares)         (775)
Options outstanding, stock option awards cancelled (in shares)         (810)
Options outstanding, ending balance (in shares) 30,212       30,212
Weighted Average Exercise Price          
Weighted average exercise price, beginning balance (in usd per share)   $ 8.56     $ 8.56
Weighted average exercise price of stock option awards granted (in usd per share)         9.01
Weighted average exercise price of stock option awards exercised (in usd per share)         5.25
Weighted average exercise price of stock option awards cancelled (in usd per share)         10.12
Weighted average exercise price, ending balance (in usd per share) $ 8.61       $ 8.61
Inducement Plan          
Awards Available          
Awards available, beginning balance (in shares)   947     947
Awards available, restricted stock awards granted (in shares)         (325)
Awards available, restricted stock awards cancelled (in shares)         61
Awards available, stock option awards granted (in shares)         (801)
Awards available, stock option awards cancelled (in shares)         460
Awards available, ending balance (in shares) 342       342
Options Outstanding          
Options outstanding, beginning balance (in shares)   5,341     5,341
Options outstanding, stock option awards granted ( in shares)         801
Options outstanding, stock option awards exercised (in shares)         (330)
Options outstanding, stock option awards cancelled (in shares)         (460)
Options outstanding, ending balance (in shares) 5,352       5,352
Weighted Average Exercise Price          
Weighted average exercise price, beginning balance (in usd per share)   $ 8.80     $ 8.80
Weighted average exercise price of stock option awards granted (in usd per share)         9.00
Weighted average exercise price of stock option awards exercised (in usd per share)         3.65
Weighted average exercise price of stock option awards cancelled (in usd per share)         9.97
Weighted average exercise price, ending balance (in usd per share) $ 9.04       $ 9.04