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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)