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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