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Stock-Based Compensation - Schedule of Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of shares      
Options outstanding at beginning of period (in shares) 1,272 2,560  
Options granted (in shares) 0 0  
Options exercised (in shares) (312) (922)  
Options forfeited and cancelled (in shares) (436) (366)  
Options outstanding at end of period (in shares) 524 1,272 2,560
Options vested and exercisable (in shares) 490    
Weighted-average exercise price per share      
Weighted-average exercise price of options outstanding at beginning of period (in USD per share) $ 6.98 $ 7.29  
Weighted-average exercise price of options granted (in USD per share) 0 0  
Weighted-average exercise price of options exercised (in USD per share) 1.74 4.40  
Weighted-average exercise price of options forfeited and cancelled (in USD per share) 10.14 15.63  
Weighted-average exercise price of options outstanding at end of period (in USD per share) 7.47 $ 6.98 $ 7.29
Weighted-average exercise price of options vested and exercisable (in USD per share) $ 6.74    
Weighted-average remaining contractual life of options outstanding (in years) 4 years 5 months 26 days 4 years 11 months 15 days 5 years 5 months 15 days
Weighted-average remaining contractual life of options vested and exercisable (in years) 4 years 3 months 18 days    
Aggregate intrinsic value of options outstanding $ 1,383 $ 2,626 $ 72,875
Aggregate intrinsic value of options vested and exercisable $ 1,383