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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, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Shares |  |  |
Beginning Balance (in shares) | 10,098,929 |  |
Granted (in shares) | 3,367,777 |  |
Exercised (in shares) | (34,608) |  |
Forfeited or expired (in shares) | (365,942) |  |
Expired (in shares) | (842,519) |  |
Ending Balance (in shares) | 12,223,637 | 10,098,929 |
Exercisable (in shares) | 7,892,753 |  |
Vested and expected to vest (in shares) | 11,346,207 |  |
Weighted-Average Exercise Price |  |  |
Beginning Balance (in dollars per share) | $ 18.58 |  |
Granted (in dollars per share) | 4.97 |  |
Exercised (in dollars per share) | 3.73 |  |
Forfeited or expired (in dollars per share) | 9.49 |  |
Expired (in dollars per share) | 19.12 |  |
Ending Balance (in dollars per share) | 15.11 | $ 18.58 |
Exercisable (in dollars per share) | 18.92 |  |
Vested and expected to vest (in dollars per share) | $ 15.59 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract] |  |  |
Weighted-average remaining contractual term, Outstanding | 6 years 8 months 12 days | 6 years 6 months |
Weighted-average remaining contractual term, Exercisable | 5 years 7 months 6 days |  |
Weighted-average remaining contractual term, Vested and expected to vest | 6 years 6 months |  |
Aggregate intrinsic value, Outstanding | $ 16,974 |  |
Aggregate intrinsic value, Exercisable | 4,509 |  |
Aggregate intrinsic value, Vested and expected to vest | $ 14,692 |  |
Weighted-Average Grant Date Fair Value |  |  |
Common stock, shares issued (in shares) | 34,608 | 120,900 | 332,767
Cash proceeds from exercise of stock options | $ 100 | $ 200 | $ 5,800
Weighted-average grant-date fair value of options granted (in dollars per share) | $ 3.83 | $ 6.84 | $ 15.20
Share-based compensation arrangement by share-based payment award, options, exercises in period, intrinsic value | $ 100 | $ 600 | $ 3,300
Fair value of shares vested | 16,400 | $ 19,600 | $ 20,200
Unrecognized compensation cost related to non-vested stock-based compensation arrangements | $ 19,500 |  |
Unrecognized compensation expense recognition period | 1 year 2 months 12 days |  |
Stock Incentive Plan 2013 |  |  |
Shares |  |  |
Ending Balance (in shares) | 11,805,515 |  |
Weighted-Average Exercise Price |  |  |
Ending Balance (in dollars per share) | $ 15.45 |  |
Restricted Stock Units |  |  |
Shares |  |  |
Beginning Balance (in shares) | 415,084 |  |
Granted (in shares) | 707,635 |  |
Exercised (in shares) | (135,396) |  |
Forfeited (in shares) | (81,709) |  |
Ending Balance (in shares) | 905,614 | 415,084 |
Weighted-Average Grant Date Fair Value |  |  |
Beginning Balance (in dollars per share) | $ 8.83 |  |
Granted (in dollars per share) | 4.88 |  |
Exercised (in dollars per share) | 8.32 |  |
Forfeited or expired (in dollars per share) | 7.17 |  |
Ending Balance (in dollars per share) | $ 5.97 | $ 8.83 |
Unrecognized compensation expense recognition period | 1 year 2 months 12 days |  |
Awards granted in period (in shares) | 707,635 |  |
Total unrecognized compensation cost | $ 2,300 |  |
Restricted Stock Units | Stock Incentive Plan 2013 |  |  |
Shares |  |  |
Ending Balance (in shares) | 854,114 |  |

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- 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. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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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 -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + 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 -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + 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 -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(02) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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