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Stock-based Compensation - Award Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Exercisable and Expected to Vest      
Options exercisable (in shares) 2,231,000    
Options vested and expected to vest (in shares) 4,748,000    
Options exercisable (in dollars per share) $ 8.61    
Options vested and expected to vest (in dollars per share) $ 7.42    
Weighted average remaining contractual terms, exercisable options 3 years 7 months 6 days    
Weighted average remaining contractual terms, vested and expected to vest options 6 years 4 months 24 days    
Aggregate intrinsic value, exercisable options $ 79    
Aggregate intrinsic value, options vested and expected to vest $ 170    
RSAs      
Number of Shares      
Non-vested, beginning of period (in shares) 181,000 80,000 96,000
Granted (in shares) 277,000 159,000 46,000
Vested (in shares) (133,000) (58,000) (62,000)
Non-vested, end of period (in shares) 325,000 181,000 80,000
Weighted Average Grant Date Fair Value Per Share      
Non-vested, beginning of period (in dollars per share) $ 8.45 $ 17.53 $ 11.44
Granted (in dollars per share) 2.89 7.53 21.91
Vested (in dollars per share) 9.04 18.42 11.31
Non-vested, end of period (in dollars per share) $ 3.48 $ 8.45 $ 17.53
RSUs      
Number of Shares      
Non-vested, beginning of period (in shares) 518,000 232,000 176,000
Granted (in shares) 1,049,000 518,000 163,000
Vested (in shares) (204,000) (106,000) (70,000)
Forfeited/Expired (in shares) (343,000) (126,000) (37,000)
Non-vested, end of period (in shares) 1,020,000 518,000 232,000
Weighted Average Grant Date Fair Value Per Share      
Non-vested, beginning of period (in dollars per share) $ 18.15 $ 21.83 $ 14.17
Granted (in dollars per share) 5.24 17.46 26.59
Vested (in dollars per share) 18.42 21.21 13.57
Forfeited/Expired (in dollars per share) 9.71 19.55 21.89
Non-vested, end of period (in dollars per share) $ 7.66 $ 18.15 $ 21.83
PSUs      
Number of Shares      
Non-vested, beginning of period (in shares) 667,000 128,000 131,000
Granted (in shares)   686,000 82,000
Vested (in shares) (315,000) (107,000) (66,000)
Forfeited/Expired (in shares) (75,000) (40,000) (19,000)
Other (in shares) 15,000    
Non-vested, end of period (in shares) 292,000 667,000 128,000
Weighted Average Grant Date Fair Value Per Share      
Non-vested, beginning of period (in dollars per share) $ 9.41 $ 21.24 $ 15.34
Granted (in dollars per share)   9.55 26.16
Vested (in dollars per share) 11.02 20.52 16.14
Forfeited/Expired (in dollars per share) 12.49 19.93 19.38
Other (in dollars per share) 25.05    
Non-vested, end of period (in dollars per share) $ 7.69 $ 9.41 $ 21.24
PBOs      
Number of Shares      
Non-vested, beginning of period (in shares) 1,826,000 1,840,000 1,560,000
Granted (in shares) 0 733,000 433,000
Forfeited/Expired (in shares) (178,000) (747,000) (118,000)
Non-vested, end of period (in shares) 1,648,000 1,826,000 1,840,000
Weighted Average Grant Date Fair Value Per Share      
Non-vested, beginning of period (in dollars per share) $ 4.70 $ 4.11 $ 5.05
Granted (in dollars per share)   9.89 12.23
Forfeited/Expired (in dollars per share) 9.73 8.29 12.23
Non-vested, end of period (in dollars per share) $ 5.64 $ 4.70 $ 4.11
Exercisable and Expected to Vest      
Options exercisable (in shares) 1,627,000    
Options vested and expected to vest (in shares) 1,646,000    
Options exercisable (in dollars per share) $ 10.96    
Options vested and expected to vest (in dollars per share) $ 11.06    
Weighted average remaining contractual terms, exercisable options 4 years 4 months 24 days    
Weighted average remaining contractual terms, vested and expected to vest options 4 years 6 months    
Aggregate intrinsic value, exercisable options $ 0    
Aggregate intrinsic value, options vested and expected to vest $ 0    
PBOs      
Number of Shares      
Exercised (in shares)     (35,000)
Weighted Average Grant Date Fair Value Per Share      
Exercised (in dollars per share)     $ 9.02