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Share-based Compensation - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Shares issued under the ESPP | 525,670 | 220,390 |
Share-based compensation expense | $ 17,875 | $ 16,649 | $ 10,419
Stock options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Unrecognized share-based compensation expense related to non-vested stock options | $ 7,100 |  |
Expiration period of stock options granted | 10 years |  |
Weighted-average fair value of stock option awards granted (per share) | $ 2.91 | $ 5.41 |
Intrinsic value of stock options exercised during period | $ 3,700 | $ 4,300 | 11,700
Expected recognition period | 2 years 8 months 8 days |  |
Share-based compensation expense | $ 5,900 | 6,300 | 5,800
Stock options | Minimum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period | 3 years |  |
Stock options | Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period | 4 years |  |
Restricted Stock Units |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Expected recognition period | 2 years 4 months 24 days |  |
Total vest date fair value of RSUs vested | $ 9,500 | 10,400 | 5,100
Share-based compensation expense | $ 11,700 | 9,600 | 4,100
Restricted Stock Units | Minimum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period | 3 years |  |
Restricted Stock Units | Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period | 4 years |  |
Employee Stock Purchase Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Purchase period duration | 6 months |  |
Percentage of lower limit value of common stock | 85.00% |  |
Maximum limit of payroll deductions (percent) | 10.00% |  |
Number of shares authorized under the plan | 5,324,000 |  |
Share-based compensation expense | $ 300 | 700 | 600
2018 Omnibus Incentive Compensation Plan | Stock options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of shares authorized under the plan | 32,753,085 |  |
2018 Omnibus Incentive Compensation Plan | Restricted Stock Units |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based compensation expense | $ 8,800 | $ 7,000 | $ 2,700
2018 Omnibus Incentive Compensation Plan | Restricted Stock Units In Divestiture |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based compensation expense | $ 600 |  |

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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