Stockholders’ Equity and Stock-Based Compensation - Warrant Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2022 |
Dec. 31, 2021 |
Dec. 31, 2020 |
|
| Shares of Stock under Warrants | |||
| Beginning Balance (in shares) | 4,356 | 15,174 | |
| Granted (in shares) | 0 | 0 | |
| Exercised (in shares) | 0 | (10,794) | |
| Canceled (in shares) | 0 | (24) | |
| Ending Balance (in shares) | 4,356 | 4,356 | 15,174 |
| Weighted- Average Exercise Price | |||
| Beginning Balance (in dollars per share) | $ 5.96 | $ 2.34 | |
| Exercised (in dollars per share) | 0 | 0 | |
| Granted (in dollars per share) | 0 | 0.88 | |
| Canceled (in dollars per share) | 0 | 3.29 | |
| Ending Balance (in dollars per share) | $ 5.96 | $ 5.96 | $ 2.34 |
| Weighted- Average Remaining Contractual Term | |||
| Outstanding | 9 months 3 days | 1 year 9 months 3 days | 3 years 9 months 3 days |
| Aggregate Intrinsic Value | |||
| Beginning balance | $ 785 | $ 26,841 | |
| Exercised | 0 | 58,191 | |
| Ending balance | $ 273 | $ 785 | $ 26,841 |