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Employee Benefit Plans and Stock-based Compensation - Options Exercise Prices (Details) shares in Thousands	12 Months Ended
	Dec. 31, 2021 $ / shares shares
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Options outstanding, shares (in shares) | shares	1,378
Weighted-average Exercise Price (in dollars per share)	$ 4.83
Weighted-average Remaining Contractual Life	5 years 7 months 6 days
Options Vested and Exercisable, Shares (in shares) | shares	1,100
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 5.14
$ 2.14 - $ 2.18
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	2.14
Range of exercise price, maximum (in dollars per share)	$ 2.18
Options outstanding, shares (in shares) | shares	143
Weighted-average Exercise Price (in dollars per share)	$ 2.18
Weighted-average Remaining Contractual Life	2 years 11 months 15 days
Options Vested and Exercisable, Shares (in shares) | shares	143
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 2.18
$ 2.36 - $ 2.36
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	2.36
Range of exercise price, maximum (in dollars per share)	$ 2.36
Options outstanding, shares (in shares) | shares	6
Weighted-average Exercise Price (in dollars per share)	$ 2.36
Weighted-average Remaining Contractual Life	1 year 10 months 2 days
Options Vested and Exercisable, Shares (in shares) | shares	6
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 2.36
$ 2.47 - $2.47
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	2.47
Range of exercise price, maximum (in dollars per share)	$ 2.47
Options outstanding, shares (in shares) | shares	40
Weighted-average Exercise Price (in dollars per share)	$ 2.47
Weighted-average Remaining Contractual Life	2 years 5 months 19 days
Options Vested and Exercisable, Shares (in shares) | shares	40
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 2.47
$ 2.56 - $2.56
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	2.56
Range of exercise price, maximum (in dollars per share)	$ 2.56
Options outstanding, shares (in shares) | shares	15
Weighted-average Exercise Price (in dollars per share)	$ 2.56
Weighted-average Remaining Contractual Life	4 years 3 days
Options Vested and Exercisable, Shares (in shares) | shares	15
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 2.56
$ 2.91 - $2.91
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	2.91
Range of exercise price, maximum (in dollars per share)	$ 2.91
Options outstanding, shares (in shares) | shares	22
Weighted-average Exercise Price (in dollars per share)	$ 2.91
Weighted-average Remaining Contractual Life	10 months 6 days
Options Vested and Exercisable, Shares (in shares) | shares	22
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 2.91
$ 3.06 - $3.06
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	3.06
Range of exercise price, maximum (in dollars per share)	$ 3.06
Options outstanding, shares (in shares) | shares	329
Weighted-average Exercise Price (in dollars per share)	$ 3.06
Weighted-average Remaining Contractual Life	7 years 10 months 6 days
Options Vested and Exercisable, Shares (in shares) | shares	107
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 3.06
$ 5.21 - $5.21
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	5.21
Range of exercise price, maximum (in dollars per share)	$ 5.21
Options outstanding, shares (in shares) | shares	394
Weighted-average Exercise Price (in dollars per share)	$ 5.21
Weighted-average Remaining Contractual Life	4 years 7 months 13 days
Options Vested and Exercisable, Shares (in shares) | shares	394
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 5.21
$ 5.77 - $5.77
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	5.77
Range of exercise price, maximum (in dollars per share)	$ 5.77
Options outstanding, shares (in shares) | shares	245
Weighted-average Exercise Price (in dollars per share)	$ 5.77
Weighted-average Remaining Contractual Life	6 years 10 months 6 days
Options Vested and Exercisable, Shares (in shares) | shares	189
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 5.77
$ 7.95 - $7.95
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	7.95
Range of exercise price, maximum (in dollars per share)	$ 7.95
Options outstanding, shares (in shares) | shares	60
Weighted-average Exercise Price (in dollars per share)	$ 7.95
Weighted-average Remaining Contractual Life	5 years 29 days
Options Vested and Exercisable, Shares (in shares) | shares	60
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 7.95
$ 9.50 - $9.50
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]
Range of exercise price, minimum (in dollars per share)	9.50
Range of exercise price, maximum (in dollars per share)	$ 9.50
Options outstanding, shares (in shares) | shares	124
Weighted-average Exercise Price (in dollars per share)	$ 9.50
Weighted-average Remaining Contractual Life	5 years 9 months 25 days
Options Vested and Exercisable, Shares (in shares) | shares	124
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 9.50

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The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

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The number of shares reserved for issuance pertaining to the outstanding exercisable stock options as of the balance sheet date in the customized range of exercise prices for which the market and performance vesting condition has been satisfied.

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The number of shares reserved for issuance pertaining to the outstanding stock options as of the balance sheet date for all option plans in the customized range of exercise prices.

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Weighted average exercise price as of the balance sheet date for those equity-based payment arrangements exercisable and outstanding.

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The weighted average price as of the balance sheet date at which grantees could acquire the underlying shares with respect to all outstanding stock options which are in the customized range of exercise prices.

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Weighted average remaining contractual term of outstanding stock options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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