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Equity Incentive Awards - Narrative (Details) - USD ($) | 12 Months Ended | 96 Months Ended
--- | --- | ---
Dec. 31, 2024 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2024
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Options outstanding (in shares) | 21,688,672 |  |  | 21,688,672
Common stock available for future grants (in shares) | 24,057,667 |  |  | 24,057,667
Stock-based compensation costs | $ 13,500,000 | $ 14,300,000 | $ 11,500,000 |
Future stock-based compensation cost for outstanding unvested awards | $ 18,300,000 |  |  | $ 18,300,000
Future stock-based compensation cost for outstanding unvested awards, weighted-average recognition period | 1 year 2 months 12 days |  |  |
Issuance of treasury stock |  |  | 0 |
Treasury Stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Issuance of treasury stock |  |  | $ 6,321,000 |
Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Common stock reserved for issuance, exercisable (in shares) | 7,518,000 |  |  | 7,518,000
Options outstanding (in shares) | 15,389,000 | 18,705,000 |  | 15,389,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period | 51,000 |  |  |
Weighted average estimated grant date fair value (in dollars per share) | $ 1.54 | $ 1.78 | $ 2.30 |
Weighted average remaining contractual term of stock options outstanding | 7 years 6 months |  |  |
Weighted average remaining contractual term of stock options exercisable | 6 years |  |  |
Aggregate value | $ 0 |  |  | $ 0
Restricted Stock Units (RSUs) |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Restricted stock units outstanding (in shares) | 6,300,000 | 5,015,000 |  | 6,300,000
Fair value of shares vested | $ 5,100,000 | $ 2,900,000 | $ 2,900,000 |
Granted (in shares) | 8,527,000 |  |  |
Weighted average grant date fair value (in dollars per share) | $ 2.14 |  |  |
Restricted Stock Units (RSUs) | Officers and non-employee directors |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Granted (in shares) | 257,670 | 64,256 | 74,416 |
Weighted average grant date fair value (in dollars per share) | $ 1.79 | $ 2.36 | $ 1.77 |
Share-Based Payment Arrangement |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Aggregate intrinsic value of exercisable stock options | $ 0 |  |  | $ 0
2017 Equity Incentive Plan and 2017 Non-Employee Directors' Equity Incentive Plan | Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Options outstanding (in shares) | 15,388,915 |  |  | 15,388,915
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period |  |  |  | 2,336,349
2017 Equity Incentive Plan and 2017 Non-Employee Directors' Equity Incentive Plan | Restricted Stock Units (RSUs) |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Restricted stock units outstanding (in shares) | 6,299,757 |  |  | 6,299,757
Common stock issued (in shares) |  |  |  | 8,700,164
2017 Equity Incentive Plan and 2017 Non-Employee Directors' Equity Incentive Plan | Restricted Stock Award (RSAs) |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Common stock issued (in shares) |  |  |  | 217,148
2017 Equity Incentive Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock options exercise price, percent of fair market value on date of grant | 100.00% |  |  |
Vesting period | 4 years |  |  |
Award term | 10 years |  |  |
Common stock authorized (in shares) | 55,000,000 |  |  | 55,000,000
2017 Equity Incentive Plan | Restricted Stock Units (RSUs) | Share-Based Payment Arrangement, Tranche One |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting percentage | 33.33% |  |  |
2017 Equity Incentive Plan | Restricted Stock Units (RSUs) | Share-Based Payment Arrangement, Tranche Two |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting percentage | 33.33% |  |  |
2017 Equity Incentive Plan | Restricted Stock Units (RSUs) | Share-Based Payment Arrangement, Tranche Three |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award vesting percentage | 33.33% |  |  |
2017 Non-Employee Directors' Equity Incentive Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Award term | 10 years |  |  |
Common stock authorized (in shares) | 2,000,000 |  |  | 2,000,000
2017 Non-Employee Directors' Equity Incentive Plan | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Aggregate value | $ 500,000 |  |  | $ 500,000
2017 Non-Employee Directors' Equity Incentive Plan | Restricted Stock Units (RSUs) |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period | 1 year |  |  |

X
- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org/1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 + Details
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- Definition Amount of cost not yet recognized for nonvested award under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (i) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 + Details
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- Definition The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 + Details
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- Definition Fair value of share-based awards for which the grantee gained the right by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d)(2) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 + Details
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- Definition Line items represent financial concepts included in a table. 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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 + Details
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