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Consolidated Statements of Shareholders' Equity - USD ($) shares in Thousands, $ in Thousands | Total | Cumulative Effect, Period of Adoption, Adjustment | Common Stock | Additional Paid In Capital | Additional Paid In Capital Cumulative Effect, Period of Adoption, Adjustment | Retained Earnings (Deficit) | Retained Earnings (Deficit) Cumulative Effect, Period of Adoption, Adjustment | Accumulated Other Comprehensive Income (Loss) | Treasury Stock
--- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |
Beginning balance, treasury stock (in shares) |  |  |  |  |  |  |  |  | (1,487)
Balance, shares at Dec. 31, 2020 |  |  | 40,394 |  |  |  |  |  |
Balance at Dec. 31, 2020 | $ 328,713 | $ (19,639) | $ 404 | $ 316,192 | $ (16,426) | $ 20,022 | $ (3,213) | $ 6,743 |
Beginning balance, treasury stock at Dec. 31, 2020 |  |  |  |  |  |  |  |  | $ (14,648)
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |
Net loss | (14,834) |  |  |  |  | (14,834) |  |  |
Other comprehensive income (loss), net of tax | (16,630) |  |  |  |  |  |  | (16,630) |
Stock issued (in shares) |  |  | 553 |  |  |  |  |  |
Stock issued | 10,000 |  | $ 6 | 9,994 |  |  |  |  |
Equity compensation (in shares) |  |  | 260 |  |  |  |  |  |
Equity compensation | 11,277 |  | $ 3 | 11,274 |  |  |  |  |
Exercise of options (in shares) |  |  | 179 |  |  |  |  |  |
Exercise of options | $ 2,146 |  | $ 1 | 2,145 |  |  |  |  |
Employee stock purchase plan (in shares) | 87 |  | 87 |  |  |  |  |  |
Employee stock purchase plan | $ 1,609 |  | $ 1 | 1,608 |  |  |  |  |
Redemption and repurchase of stock to cover tax withholdings (in shares) |  |  | (76) |  |  |  |  |  |
Redemption and repurchase of stock to cover tax withholdings | (1,914) |  | $ (1) | (1,913) |  |  |  |  |
Balance, shares at Dec. 31, 2021 |  |  | 41,397 |  |  |  |  |  |
Balance at Dec. 31, 2021 | $ 300,728 |  | $ 414 | 322,874 |  | 1,975 |  | (9,887) |
Ending balance, treasury stock (in shares) at Dec. 31, 2021 |  |  |  |  |  |  |  |  | (1,487)
Ending balance, treasury stock at Dec. 31, 2021 |  |  |  |  |  |  |  |  | $ (14,648)
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |
Accounting Standards Update [Extensible Enumeration] | ASU 2020-06 |  |  |  |  |  |  |  |
Beginning balance, treasury stock (in shares) |  |  |  |  |  |  |  |  | (1,487)
Net loss | $ (19,192) |  |  |  |  | (19,192) |  |  |
Other comprehensive income (loss), net of tax | (11,722) |  |  |  |  |  |  | (11,722) |
Equity compensation (in shares) |  |  | 282 |  |  |  |  |  |
Equity compensation | 12,942 |  | $ 3 | 12,939 |  |  |  |  |
Exercise of options (in shares) |  |  | 151 |  |  |  |  |  |
Exercise of options | $ 1,789 |  | $ 1 | 1,788 |  |  |  |  |
Employee stock purchase plan (in shares) | 95 |  | 95 |  |  |  |  |  |
Employee stock purchase plan | $ 1,579 |  | $ 1 | 1,578 |  |  |  |  |
Redemption and repurchase of stock to cover tax withholdings (in shares) |  |  | (95) |  |  |  |  |  |
Redemption and repurchase of stock to cover tax withholdings | (1,795) |  | $ (1) | (1,794) |  |  |  |  |
Balance, shares at Dec. 31, 2022 |  |  | 41,830 |  |  |  |  |  |
Balance at Dec. 31, 2022 | $ 284,329 |  | $ 418 | 337,385 |  | (17,217) |  | (21,609) |
Ending balance, treasury stock (in shares) at Dec. 31, 2022 | (1,487) |  |  |  |  |  |  |  | (1,487)
Ending balance, treasury stock at Dec. 31, 2022 | $ 14,648 |  |  |  |  |  |  |  | $ (14,648)
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |
Beginning balance, treasury stock (in shares) | (1,487) |  |  |  |  |  |  |  | (1,487)
Net loss | $ (30,690) |  |  |  |  | (30,690) |  |  |
Other comprehensive income (loss), net of tax | 9,599 |  |  |  |  |  |  | 9,599 |
Equity compensation (in shares) |  |  | 412 |  |  |  |  |  |
Equity compensation | 15,146 |  | $ 4 | 15,142 |  |  |  |  |
Exercise of options (in shares) |  |  | 226 |  |  |  |  |  |
Exercise of options | $ 2,502 |  | $ 3 | 2,499 |  |  |  |  |
Employee stock purchase plan (in shares) | 141 |  | 141 |  |  |  |  |  |
Employee stock purchase plan | $ 1,453 |  | $ 2 | 1,451 |  |  |  |  |
Redemption and repurchase of stock to cover tax withholdings (in shares) |  |  | (40) |  |  |  |  |  |
Redemption and repurchase of stock to cover tax withholdings | (559) |  | $ (1) | (558) |  |  |  |  |
Balance, shares at Dec. 31, 2023 |  |  | 42,569 |  |  |  |  |  |
Balance at Dec. 31, 2023 | $ 281,780 |  | $ 426 | $ 355,919 |  | $ (47,907) |  | $ (12,010) |
Ending balance, treasury stock (in shares) at Dec. 31, 2023 | (1,487) |  |  |  |  |  |  |  | (1,487)
Ending balance, treasury stock at Dec. 31, 2023 | $ 14,648 |  |  |  |  |  |  |  | $ (14,648)
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |
Beginning balance, treasury stock (in shares) | (1,487) |  |  |  |  |  |  |  | (1,487)

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