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Stockholders' Equity - Stock Option Activity (Details) - Stock Options
$ / shares in Units, shares in Thousands, $ in Millions
 9 Months Ended 12 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Outstanding Stock Options (in thousands)    
Beginning of period (in shares) | shares 6,112  
Exercised (in shares) | shares (1,343)  
Cancelled/forfeited (in shares) | shares (299)  
End of period (in shares) | shares 4,470 6,112
Vested and exercisable (in shares) | shares 3,081  
Weighted-Average Exercise Price    
Beginning of period (in dollars per share) | $ / shares $ 9.81  
Exercised (in dollars per share) | $ / shares 6.79  
Cancelled/forfeited (in dollars per share) | $ / shares 12.53  
End of period (in dollars per share) | $ / shares 10.53 $ 9.81
Vested and exercisable (in dollars per share) | $ / shares $ 9.58  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]    
Weighted-Average Remaining Contractual Life (in years) 6 years 4 months 24 days 6 years 8 months 12 days
Vested and exercisable (in years) 5 years 7 months 6 days  
Aggregate intrinsic value, outstanding | $ $ 6.0 $ 11.9
Aggregate intrinsic value, Vested and exercisable | $ $ 5.7