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Equity - Narrative (Details) - USD ($) $ in Thousands | 1 Months Ended | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | ---
Sep. 30, 2022 | Mar. 31, 2022 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2019 | Sep. 22, 2021 | Jun. 30, 2020 | Jun. 12, 2014
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Treasury stock (in shares) |  |  | 12,828,000 | 12,415,000 |  |  |  |  |
Treasury shares that were previously surrendered by employees to satisfy tax withholdings (in shares) |  |  | 2,100,000 | 1,700,000 |  |  |  |  |
Shares available for grant (in shares) |  |  | 2,810,000 | 5,165,000 |  |  |  |  | 4,500,000
Total shares reserved (in shares) |  |  | 6,533,000 | 7,871,000 |  |  |  |  |
Capitalized stock-based compensation |  |  | $ 1,040 | $ 1,885 | $ 2,621 |  |  |  |
2014 Equity Incentive Plan |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Additional shares authorized (in shares) |  |  |  | 3,000,000 |  | 2,500,000 |  |  |
2021 Inducement Plan |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Additional shares authorized (in shares) | 1,500,000 | 500,000 |  |  |  |  |  |  |
Total shares reserved (in shares) |  |  |  |  |  |  | 400,000 |  |
Granted (in shares) |  |  | 2,000,000 |  |  |  |  |  |
Employee stock purchase program |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares authorized (in shares) |  |  | 100,000 |  |  |  |  | 500,000 |
Purchase price of common stock, percent |  |  | 85.00% |  |  |  |  |  |
Number of shares purchased (in shares) |  |  | 100,000 | 200,000 | 100,000 |  |  |  |
Unrecognized stock-based compensation, restricted stock units |  |  | $ 200 |  |  |  |  |  |
Recognition period for unrecognized stock-based compensation expense |  |  | 4 months 24 days |  |  |  |  |  |
Common stock options |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Recognition period for unrecognized stock-based compensation expense |  |  | 1 year 1 month 6 days |  |  |  |  |  |
Granted (in shares) |  |  | 0 |  |  |  |  |  |
Unrecognized stock-based compensation, options |  |  | $ 1,200 |  |  |  |  |  |
Restricted Stock |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Unrecognized stock-based compensation, restricted stock units |  |  | $ 22,800 |  |  |  |  |  |
Recognition period for unrecognized stock-based compensation expense |  |  | 2 years 7 months 6 days |  |  |  |  |  |
Performance-based stock units |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Unrecognized stock-based compensation, restricted stock units |  |  | $ 900 |  |  |  |  |  |
Recognition period for unrecognized stock-based compensation expense |  |  | 7 months 6 days |  |  |  |  |  |
Previous Repurchase Programs |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of shares repurchased under share repurchase plan (in shares) |  |  | 10,700,000 |  |  |  |  |  |

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