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Net income (loss) per share - Reconciliation of Numerator and Denominator in Basic and Diluted Net Income (Loss) Per Common Share Computations (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Mar. 31, 2021
Dec. 31, 2020
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Dec. 31, 2019
Sep. 30, 2019
Jun. 30, 2019
Mar. 31, 2019
Dec. 31, 2018
Sep. 30, 2018
Jun. 30, 2018
Mar. 31, 2018
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2018
Numerator:                                
Net income (loss) $ (24) $ 4,297 $ 447 $ 1,512 $ (341) $ 8,002 $ 6,517 $ 3,706 $ (17,914) $ 9,672 $ 3,915 $ 1,248 $ 690 $ 6,232 $ 17,884 $ 15,525
Denominator:                                
Weighted average common shares outstanding - basic (in shares)                 48,022,926       46,435,560 49,377,410 48,498,813 46,828,798
Dilutive common equivalent shares from equity awards (in shares)                 0         2,616,735 2,318,330 2,439,818
Weighted average common shares outstanding - diluted (in shares)                 48,022,926       49,302,771 51,994,145 50,817,143 49,268,616
Net income (loss) per share:                                
Basic (in USD per share) $ (0.00) $ 0.09 $ 0.01 $ 0.03 $ (0.01) $ 0.16 $ 0.13 $ 0.08 $ (0.37) $ 0.20 $ 0.08 $ 0.03 $ 0.01 $ 0.13 $ 0.37 $ 0.33
Diluted (in USD per share) $ (0.00) $ 0.08 $ 0.01 $ 0.03 $ (0.01) $ 0.16 $ 0.13 $ 0.07 $ (0.37) $ 0.20 $ 0.08 $ 0.03 $ 0.01 $ 0.12 $ 0.35 $ 0.32
Anti-dilutive securities excluded from diluted EPS:                                
Weighted average anti-dilutive shares from outstanding equity awards excluded from diluted earnings per share (in shares)                 6,588,523         1,038,810 2,143,672 3,373,529