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

Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant

- Definition

Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.