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Stockholders' Equity - RSUs and PRUs Activity (Details)
shares in Thousands
 12 Months Ended
Dec. 31, 2022
$ / shares
shares
Restricted Stock Units (RSUs)  
Number of shares  
Outstanding, beginning of period (in shares) | shares 2,580
Granted (in shares) | shares 1,317
Vested (in shares) | shares (1,145)
Forfeited (in shares) | shares (233)
Outstanding, end of period (in shares) | shares 2,519
Weighted-average Grant Date Fair Value  
Outstanding, beginning of period (in dollars per share) | $ / shares $ 5.67
Granted (in dollars per share) | $ / shares 8.92
Vested (in dollars per share) | $ / shares 6.36
Forfeited (in dollars per share) | $ / shares 6.97
Outstanding, end of period (in dollars per share) | $ / shares $ 6.94
Performance-based Restricted Stock Units (PSUs)  
Number of shares  
Outstanding, beginning of period (in shares) | shares 2,085
Granted (in shares) | shares 611
Vested (in shares) | shares (36)
Forfeited (in shares) | shares (59)
Outstanding, end of period (in shares) | shares 2,601
Weighted-average Grant Date Fair Value  
Outstanding, beginning of period (in dollars per share) | $ / shares $ 11.00
Granted (in dollars per share) | $ / shares 12.03
Vested (in dollars per share) | $ / shares 12.75
Forfeited (in dollars per share) | $ / shares 12.51
Outstanding, end of period (in dollars per share) | $ / shares $ 11.18