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Stockholders' Equity - Schedule of Stock Option Activity (Details)
$ / shares in Units, shares in Thousands, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Shares    
Options outstanding, beginning balance (in shares) | shares 2,443  
Granted (in shares) | shares 0  
Exercised (in shares) | shares (265)  
Cancelled/forfeited (in shares) | shares (44)  
Options outstanding, ending balance (in shares) | shares 2,134 2,443
Vested and exercisable (in shares) | shares 2,129  
Weighted- Average  Exercise Price    
Options outstanding, weighted-average exercise price, beginning of period (in US dollar per share) | $ / shares $ 6.01  
Granted, weighted-average exercise price (in US dollar per share) | $ / shares 0  
Exercised, weighted-average exercise price (in US dollar per share) | $ / shares 7.59  
Cancelled/forfeited, weighted-average exercise price (in US dollar per share) | $ / shares 8.35  
Options outstanding, weighted-average exercise price, end of period (in US dollar per share) | $ / shares 5.77 $ 6.01
Vested and exercisable, weighted-average exercise price (in US dollar per share) | $ / shares $ 5.75  
Stock Option Activity, Additional Disclosures    
Weighted-average remaining contractual period 4 years 4 years 8 months 12 days
Vested and exercisable, weighted average contractual term 3 years 10 months 24 days  
Aggregate intrinsic value | $ $ 28,657 $ 7,674
Vested and exercisable, aggregate intrinsic value | $ $ 28,627