Share-based Compensation - Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Stock Options Outstanding
Outstanding — beginning of period	8,085,793	8,479,979	9,044,304
Granted	1,505,000	1,929,500	1,526,000
Exercised	(370,688)	(1,315,552)	(1,357,620)
Canceled	(1,087,146)	(1,008,134)	(732,705)
Outstanding — end of period	8,132,959	8,085,793	8,479,979
Vested and Expected to Vest — December 31, 2022	7,573,152
Exercisable — December 31, 2022	5,550,858
Weighted-Average Exercise Price Per Option
Outstanding — beginning of period	$ 4.81	$ 3.99	$ 2.91
Granted	4.63	8.86	9.41
Exercised	1.37	2.62	3.06
Canceled	7.97	8.60	3.60
Outstanding — end of period	4.65	$ 4.81	$ 3.99
Vested and Expected to Vest — December 31, 2022	4.49
Exercisable — December 31, 2022	$ 3.87
Weighted-Average Remaining Contractual Term (Years), Options Outstanding	5 years 3 months
Weighted-Average Remaining Contractual Term (Years), Options Vested and Expected to Vest	5 years 3 days
Weighted-Average Remaining Contractual Term (Years), Options Exercisable	3 years 8 months 8 days
Aggregate Intrinsic Value, Options Outstanding	$ 0
Aggregate Intrinsic Value, Options Vested and Expected to Vest	1
Aggregate Intrinsic Value, Options Exercisable	$ 1

The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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Namespace Prefix:	us-gaap_
Data Type:	xbrli:sharesItemType
Balance Type:	na
Period Type:	instant

- Definition

The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.