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Stock Incentive Plan - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands		12 Months Ended
	Apr. 03, 2017	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2018
Subsidiary, Sale of Stock [Line Items]
Value of shares withheld for taxes		$ 9,416	$ 7,338	$ 1,985
Warrants exercised (in shares)			530,000	470,000
Stock issued during period (in shares)			315,000	110,000
Stock issued related to warrants exercised			$ 8,082	$ 1,477
Warrants outstanding (in shares)			0
Additional Paid in Capital
Subsidiary, Sale of Stock [Line Items]
Value of shares withheld for taxes		9,413	$ 7,039	$ 140
RSAs
Subsidiary, Sale of Stock [Line Items]
Total compensation cost attributable to shares awarded		$ 633
Grants in the period (in shares)		26,000	29,000	51,000
Grants in the period (in dollars per share)		$ 23.43	$ 23.19	$ 8.73
Fair value of shares vested in period		$ 673	$ 506	$ 799
Vested (in shares)		29,000
Vested (in dollars per share)		$ 23.19
Shares withheld for taxes (in shares)			1,000	11,000
Value of shares withheld for taxes			$ 27	$ 140
RSUs
Subsidiary, Sale of Stock [Line Items]
Total compensation cost attributable to shares awarded		$ 3,072
Share vesting period		3 years
Grants in the period (in shares)		186,000	151,000	169,000
Grants in the period (in dollars per share)		$ 28.35	$ 21.29	$ 13.52
Fair value of shares vested in period		$ 2,818	$ 2,742	$ 2,918
Vested (in shares)		151,000
Vested (in dollars per share)		$ 18.66
PSUs
Subsidiary, Sale of Stock [Line Items]
Total compensation cost attributable to shares awarded		$ 6,476
Share vesting period		3 years
Grants in the period (in shares)		166,000	397,000	176,000
Grants in the period (in dollars per share)		$ 26.52	$ 21.88	$ 14.06
Fair value of shares vested in period		$ 10,508	$ 7,842	$ 1,620
Vested (in shares)		710,000
Vested (in dollars per share)		$ 14.80
RSUs and PSUs
Subsidiary, Sale of Stock [Line Items]
Shares withheld for taxes (in shares)		330,000	311,000	123,000
Value of shares withheld for taxes		$ 9,416	$ 7,311	$ 1,845
Liability-Based Awards | Additional Paid in Capital
Subsidiary, Sale of Stock [Line Items]
Total compensation cost attributable to shares awarded		1,225	0	0
Warrants to the Lenders Under the Loan Agreement | Loan and Security Agreement
Subsidiary, Sale of Stock [Line Items]
Warrants, term	5 years
Number of warrants (in shares)	1,000,000
Warrant exercise price (in dollars per share)	$ 10.25
Stock Incentive Plan & ESPP
Subsidiary, Sale of Stock [Line Items]
Total compensation cost attributable to shares awarded		$ 10,301	11,771	11,643
Stock Incentive Plan
Subsidiary, Sale of Stock [Line Items]
Number of shares authorized to issue (in shares)					3,400,000
Number of shares available for grant (in shares)		397,000
Unrecognized compensation cost		$ 10,900
Weighted-average recognition period		2 years 4 months 24 days
Stock Incentive Plan | RSAs, RSUs and PSUs
Subsidiary, Sale of Stock [Line Items]
Total compensation cost attributable to shares awarded		$ 10,181	11,687	11,572
ESPP
Subsidiary, Sale of Stock [Line Items]
Number of shares available for grant (in shares)		692,000
ESPP | Employee Stock
Subsidiary, Sale of Stock [Line Items]
Total compensation cost attributable to shares awarded		$ 120	$ 84	$ 71
Maximum annual contribution per employee		15.00%
Maximum annual contribution amount		$ 25
Purchase price of common stock percent		85.00%

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