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Stock-based Compensation - Stock Option and Restricted Stock Unit Activity (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Shares |  |  |
Beginning Balance (in shares) | 8,373,921 |  |
Granted (in shares) | 2,794,997 |  |
Exercised (in shares) | (120,900) |  |
Forfeited or expired (in shares) | (509,569) |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Expirations in Period | (439,520) |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Expirations in Period, Weighted Average Exercise Price | $ 22.77 |  |
Ending Balance (in shares) | 10,098,929 | 8,373,921 |
Exercisable (in shares) | 6,694,068 |  |
Vested and expected to vest (in shares) | 9,456,075 |  |
Weighted-Average Exercise Price |  |  |
Beginning Balance (in dollars per share) | $ 21.47 |  |
Granted (in dollars per share) | 9.32 |  |
Exercised (in dollars per share) | 1.43 |  |
Forfeited or expired (in dollars per share) | 15.82 |  |
Ending Balance (in dollars per share) | 18.58 | $ 21.47 |
Exercisable (in dollars per share) | 21.35 |  |
Vested and expected to vest (in dollars per share) | $ 18.91 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract] |  |  |
Weighted-average remaining contractual term, Outstanding | 6 years 6 months | 6 years 7 months 6 days |
Weighted-average remaining contractual term, Exercisable | 5 years 6 months |  |
Weighted-average remaining contractual term, Vested and expected to vest | 6 years 4 months 24 days |  |
Aggregate intrinsic value, Outstanding | $ 1,094 |  |
Aggregate intrinsic value, Exercisable | 424 |  |
Aggregate intrinsic value, Vested and expected to vest | $ 1,009 |  |
Weighted-Average Grant Date Fair Value |  |  |
Common stock, shares issued (in shares) | 120,900 | 332,767 | 504,445
Cash proceeds from exercise of stock options | $ 200 | $ 5,800 | $ 5,300
Weighted-average grant-date fair value of options granted (in dollars per share) | $ 6.84 | $ 15.20 | $ 10.68
Share-based compensation arrangement by share-based payment award, options, exercises in period, intrinsic value | $ 600 | $ 3,300 | $ 4,300
Fair value of shares vested | 19,600 | $ 20,200 | $ 16,700
Unrecognized compensation cost related to non-vested stock-based compensation arrangements | $ 24,300 |  |
Unrecognized compensation expense recognition period | 1 year 3 months 18 days |  |
Stock Incentive Plan 2013 |  |  |
Shares |  |  |
Ending Balance (in shares) | 10,033,826 |  |
Weighted-Average Exercise Price |  |  |
Ending Balance (in dollars per share) | $ 18.66 |  |
Restricted Stock Units |  |  |
Shares |  |  |
Beginning Balance (in shares) | 21,500 |  |
Granted (in shares) | 476,772 |  |
Exercised (in shares) | (10,445) |  |
Forfeited (in shares) | (72,743) |  |
Ending Balance (in shares) | 415,084 | 21,500 |
Weighted-Average Grant Date Fair Value |  |  |
Beginning Balance (in dollars per share) | $ 25.97 |  |
Granted (in dollars per share) | 8.42 |  |
Exercised (in dollars per share) | 25.65 |  |
Forfeited or expired (in dollars per share) | 8.74 |  |
Ending Balance (in dollars per share) | $ 8.83 | $ 25.97 |
Unrecognized compensation expense recognition period | 1 year |  |
Awards granted in period (in shares) | 476,772 |  |
Total unrecognized compensation cost | $ 2,000 |  |

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- Definition Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + 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 (c)(2)(iii)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement. + 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 (c)(2)(iii)(02) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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