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Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Stock-based compensation expense by type of award: |  |  |  |
Stock-based compensation expense | $ 1,779 | $ 3,500 | $ 8,484 | $ 9,185
Restricted stock units and restricted stock awards |  |  |  |
Stock-based compensation expense by type of award: |  |  |  |
Stock-based compensation expense | 1,682 | 3,389 | 8,164 | 8,748
Employee Stock Purchase Plan |  |  |  |
Stock-based compensation expense by type of award: |  |  |  |
Stock-based compensation expense | $ 97 | $ 111 | $ 320 | $ 437

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