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v3.24.0.1

Debt (Narrative) (Details) |  |  |  |  |  | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Jan. 18, 2024 USD ($) | Apr. 19, 2023 USD ($) | Dec. 19, 2022 | Jun. 02, 2021 USD ($) | Jun. 18, 2020 USD ($) $ / shares | Dec. 31, 2023 USD ($) tradingDay businessDay | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($) | Dec. 01, 2017 USD ($) | Dec. 31, 2015 | Apr. 30, 2014
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Debt |  |  |  |  |  | $ 312,045,000 | $ 314,779,000 |  |  |  |
Payments of debt issuance costs |  |  |  |  |  | 249,000 | 0 | $ 2,219,000 |  |  |
Interest expense |  |  |  |  |  | $ 25,299,000 | 18,224,000 | 16,887,000 |  |  |
Interest Expense |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Payments of debt issuance costs |  |  |  | $ 361,000 |  |  |  |  |  |  |
Debt extinguishment costs |  |  |  | 474,000 |  |  |  |  |  |  |
Convertible Senior Notes |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Interest rate on amounts borrowed |  |  |  |  | 4.25% |  |  |  |  |  |
Effective interest rate |  |  |  |  |  | 5.05% |  |  |  |  |
Debt instrument, face amount |  |  |  |  | $ 100,000,000 |  |  |  |  |  |
Proceeds from convertible debt |  |  |  |  | $ 96,500,000 |  |  |  |  |  |
Conversion ratio |  |  |  |  | 0.0426203 |  |  |  |  |  |
Conversion price (in dollars per share) | $ / shares |  |  |  |  | $ 23.46 |  |  |  |  |  |
Debt fair value |  |  |  |  |  | $ 106,400,000 |  |  |  |  |
Interest expense |  |  |  |  |  | 5,000,000 | 4,900,000 | $ 4,900,000 |  |  |
Unamortized debt issuance costs |  |  |  |  |  | 1,100,000 | 1,900,000 |  |  |  |
Convertible Senior Notes | Cumulative Effect, Period of Adoption, Adjustment | ASU 2020-06 |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Notes payable |  |  |  |  |  | $ 100,000,000 |  |  |  |  |
Convertible Senior Notes | Subsequent Event |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Interest rate on amounts borrowed | 4.25% |  |  |  |  |  |  |  |  |  |
Convertible Senior Notes | Circumstance I |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Conversion trading day threshold | tradingDay |  |  |  |  |  | 20 |  |  |  |  |
Conversion consecutive trading day threshold | tradingDay |  |  |  |  |  | 30 |  |  |  |  |
Conversion percentage of stock price threshold |  |  |  |  |  | 130.00% |  |  |  |  |
Convertible Senior Notes | Circumstance II |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Conversion trading day threshold | businessDay |  |  |  |  |  | 5 |  |  |  |  |
Conversion consecutive trading day threshold | tradingDay |  |  |  |  |  | 5 |  |  |  |  |
Conversion percentage of stock price threshold |  |  |  |  |  | 98.00% |  |  |  |  |
Convertible Senior Notes | Circumstance After July 5, 2023 |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Conversion trading day threshold | tradingDay |  |  |  |  |  | 20 |  |  |  |  |
Conversion consecutive trading day threshold | tradingDay |  |  |  |  |  | 30 |  |  |  |  |
Conversion percentage of stock price threshold |  |  |  |  |  | 130.00% |  |  |  |  |
Conversion percentage of principal amount |  |  |  |  |  | 100.00% |  |  |  |  |
2.45% Sparkasse Zollernalb (KFW Loan 1) |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Debt |  |  |  |  |  | $ 61,000 | 296,000 |  |  |  |
Interest rate on amounts borrowed |  |  |  |  |  | 2.45% |  |  |  |  | 2.45%
1.40% Sparkasse Zollernalb (KFW Loan 2) |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Debt |  |  |  |  |  | $ 484,000 | 733,000 |  |  |  |
Interest rate on amounts borrowed |  |  |  |  |  | 1.40% |  |  |  | 1.40% |
Credit and Guaranty Agreement | Secured Debt | Subsequent Event |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Proceeds from issuance of debt | $ 220,000,000 |  |  |  |  |  |  |  |  |  |
Debt instrument, face amount | $ 350,000,000 |  |  |  |  |  |  |  |  |  |
Notes Payable Issued For Prepayment Of Insurance Premiums | IPFS Corporation |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Interest rate on amounts borrowed |  | 6.65% |  |  |  |  |  |  |  |  |
Debt instrument, face amount |  | $ 3,600,000 |  |  |  |  |  |  |  |  |
Loan term |  | 1 year |  |  |  |  |  |  |  |  |
Notes Payable, Current |  |  |  |  |  | $ 1,000,000 |  |  |  |  |
Revolving Credit Facility And Term Loan |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Payments of debt issuance costs |  |  |  | 2,100,000 |  |  |  |  |  |  |
Amortization of the debt issuance costs |  |  |  | $ 1,800,000 |  |  |  |  |  |  |
Revolving Credit Facility And Term Loan | Credit Agreement |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Debt |  |  |  |  |  |  |  |  | $ 255,000,000 |  |
Effective interest rate |  |  |  |  |  | 8.97% |  |  |  |  |
Debt instrument, extension period |  |  |  | 2 years 6 months |  |  |  |  |  |  |
Revolving Credit Facility And Term Loan | Amended Credit Agreement Two | Convertible Senior Notes |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Interest rate on amounts borrowed |  |  |  |  |  | 4.25% |  |  |  |  |
Term Loan |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Debt |  |  |  |  |  | $ 211,500,000 | $ 213,750,000 |  | 225,000,000 |  |
Term Loan | SOFR |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Credit facility margin |  |  | 3.50% |  |  |  |  |  |  |  |
Term Loan | Amended Credit Agreement Two | Circumstance I |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Debt instrument, extension circumstance period |  |  |  |  |  | 91 days |  |  |  |  |
Term Loan | Amended Credit Agreement Two | Circumstance II |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Debt instrument, extension circumstance period |  |  |  |  |  | 182 days |  |  |  |  |
Revolving Credit Facility |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Credit facility aggregate commitments |  |  |  |  |  |  |  |  | $ 30,000,000 |  |
Revolving Credit Facility | SOFR | Minimum |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Credit facility margin |  |  | 4.00% |  |  |  |  |  |  |  |
Revolving Credit Facility | SOFR | Maximum |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility [Line Items] |  |  |  |  |  |  |  |  |  |  |
Credit facility margin |  |  | 4.25% |  |  |  |  |  |  |  |

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