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Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021
Stock-based compensation expense by type of award: |  |  |  |
Stock-based compensation expense | $ 3,020 | $ 3,239 | $ 5,685 | $ 5,755
Restricted stock units and restricted stock awards |  |  |  |
Stock-based compensation expense by type of award: |  |  |  |
Stock-based compensation expense | 2,891 | 3,053 | 5,359 | 5,383
Employee Stock Purchase Plan |  |  |  |
Stock-based compensation expense by type of award: |  |  |  |
Stock-based compensation expense | $ 129 | $ 186 | $ 326 | $ 372

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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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