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Stock-based Compensation - Restricted and Performance Stock Units (Details)
shares in Thousands
 12 Months Ended
Dec. 31, 2023
$ / shares
shares
Restricted Stock Units (RSUs)  
Number of Nonvested and Outstanding Units  
Beginning balance (in shares) | shares 7,120
Granted (in shares) | shares 3,728
Released (in shares) | shares (2,970)
Forfeited (in shares) | shares (945)
Ending balance (in shares) | shares 6,933
Weighted-Average Grant Date Fair Value per Share  
Beginning balance (in dollars per share) | $ / shares $ 2.58
Granted (in dollars per share) | $ / shares 2.32
Released (in dollars per share) | $ / shares 2.68
Forfeited (in dollars per share) | $ / shares 2.17
Ending balance (in dollars per share) | $ / shares $ 2.46
Performance Shares  
Number of Nonvested and Outstanding Units  
Beginning balance (in shares) | shares 453
Granted (in shares) | shares 309
Released (in shares) | shares (52)
Performance adjustment for 2020 awards (in shares) | shares | shares (401)
Ending balance (in shares) | shares 309
Weighted-Average Grant Date Fair Value per Share  
Beginning balance (in dollars per share) | $ / shares $ 4.81
Granted (in dollars per share) | $ / shares 2.42
Released (in dollars per share) | $ / shares 9.6
Performance adjustment for 2020 awards (in shares) | shares | $ / shares 4.19
Ending balance (in dollars per share) | $ / shares $ 2.42