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CONDENSED CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY - USD ($) $ in Thousands | Total | Convertible Senior Notes due 2024 Convertible Notes | Convertible Senior Notes Due 2026 Convertible Notes | Convertible Senior Notes Due 2027 | Convertible Senior Notes Due 2027 Convertible Notes | Common Stock | Common Stock Convertible Senior Notes Due 2027 | Additional Paid in Capital | Additional Paid in Capital Convertible Senior Notes due 2024 Convertible Notes | Additional Paid in Capital Convertible Senior Notes Due 2026 Convertible Notes | Additional Paid in Capital Convertible Senior Notes Due 2027 | Accumulated Deficit | Accumulated Other Comprehensive Loss | Treasury Stock | Treasury Stock Convertible Senior Notes due 2024 Convertible Notes
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Beginning Balance (in shares) at Dec. 31, 2019 |  |  |  |  |  | 18,360,000 |  |  |  |  |  |  |  | 1,731,000 |
Beginning Balance at Dec. 31, 2019 | $ 72,847 |  |  |  |  | $ 367 |  | $ 94,372 |  |  |  | $ (10,144) | $ (5,368) | $ (6,380) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options (in shares) |  |  |  |  |  | 2,000 |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options | 30 |  |  |  |  |  |  | 30 |  |  |  |  |  |  |
Net issuance of restricted stock awards (in shares) |  |  |  |  |  | 21,000 |  |  |  |  |  |  |  |  |
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 38,000 |
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock | (524) |  |  |  |  |  |  |  |  |  |  |  |  | $ (524) |
Issuance of restricted stock for acquisition (in shares) |  |  |  |  |  | 908,000 |  |  |  |  |  |  |  |  |
Issuance of restricted stock for acquisition | 19 |  |  |  |  | $ 19 |  |  |  |  |  |  |  |  |
Issuance of common stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (722,000)
Issuance of common stock |  | $ (5,553) | $ 19,097 |  |  |  |  |  | $ (7,988) | $ 19,097 |  |  |  |  | $ 2,435
Stock-based compensation | 1,089 |  |  |  |  |  |  | 1,089 |  |  |  |  |  |  |
Foreign currency translation adjustments | 201 |  |  |  |  |  |  |  |  |  |  |  | 201 |  |
Net loss | (10,910) |  |  |  |  |  |  |  |  |  |  | (10,910) |  |  |
Ending Balance (in shares) at Mar. 31, 2020 |  |  |  |  |  | 19,291,000 |  |  |  |  |  |  |  | 1,047,000 |
Ending Balance at Mar. 31, 2020 | 76,296 |  |  |  |  | $ 386 |  | 106,600 |  |  |  | (21,054) | (5,167) | $ (4,469) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible notes conversion discount, taxes |  | $ 1,800 | 6,200 |  | $ 600 |  |  |  |  |  |  |  |  |  |
Beginning Balance (in shares) at Dec. 31, 2019 |  |  |  |  |  | 18,360,000 |  |  |  |  |  |  |  | 1,731,000 |
Beginning Balance at Dec. 31, 2019 | 72,847 |  |  |  |  | $ 367 |  | 94,372 |  |  |  | (10,144) | (5,368) | $ (6,380) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Foreign currency translation adjustments | 309 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Net loss | (23,597) |  |  |  |  |  |  |  |  |  |  |  |  |  |
Ending Balance (in shares) at Sep. 30, 2020 |  |  |  |  |  | 19,315,000 |  |  |  |  |  |  |  | 1,052,000 |
Ending Balance at Sep. 30, 2020 | 66,775 |  |  |  |  | $ 386 |  | 109,772 |  |  |  | (33,741) | (5,059) | $ (4,583) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Convertible notes conversion discount, taxes |  |  | $ (4,400) |  | $ (15,900) |  |  |  |  |  |  |  |  |  |
Beginning Balance (in shares) at Mar. 31, 2020 |  |  |  |  |  | 19,291,000 |  |  |  |  |  |  |  | 1,047,000 |
Beginning Balance at Mar. 31, 2020 | 76,296 |  |  |  |  | $ 386 |  | 106,600 |  |  |  | (21,054) | (5,167) | $ (4,469) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options (in shares) |  |  |  |  |  | 4,000 |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options | 12 |  |  |  |  |  |  | 12 |  |  |  |  |  |  |
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 3,000 |
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock | (3) |  |  |  |  |  |  | (195) |  |  |  |  |  | $ 192 |
Stock-based compensation | 1,123 |  |  |  |  |  |  | 1,123 |  |  |  |  |  |  |
Foreign currency translation adjustments | 158 |  |  |  |  |  |  |  |  |  |  |  | 158 |  |
Net loss | (8,976) |  |  |  |  |  |  |  |  |  |  | (8,976) |  |  |
Ending Balance (in shares) at Jun. 30, 2020 |  |  |  |  |  | 19,295,000 |  |  |  |  |  |  |  | 1,050,000 |
Ending Balance at Jun. 30, 2020 | 68,610 |  |  |  |  | $ 386 |  | 107,540 |  |  |  | (30,030) | (5,009) | $ (4,277) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options (in shares) |  |  |  |  |  | 20,000 |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options | 394 |  |  |  |  |  |  | 394 |  |  |  |  |  |  |
Net issuance of restricted stock awards | 833 |  |  |  |  |  |  | 833 |  |  |  |  |  |  |
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 2,000 |
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock | (306) |  |  |  |  |  |  |  |  |  |  |  |  | $ (306) |
Stock-based compensation | 1,005 |  |  |  |  |  |  | 1,005 |  |  |  |  |  |  |
Foreign currency translation adjustments | (50) |  |  |  |  |  |  |  |  |  |  |  | (50) |  |
Net loss | (3,711) |  |  |  |  |  |  |  |  |  |  | (3,711) |  |  |
Ending Balance (in shares) at Sep. 30, 2020 |  |  |  |  |  | 19,315,000 |  |  |  |  |  |  |  | 1,052,000 |
Ending Balance at Sep. 30, 2020 | $ 66,775 |  |  |  |  | $ 386 |  | 109,772 |  |  |  | (33,741) | (5,059) | $ (4,583) |
Beginning Balance (in shares) at Dec. 31, 2020 | 21,917,357 |  |  |  |  | 22,983,000 |  |  |  |  |  |  |  | 1,066,000 |
Beginning Balance at Dec. 31, 2020 | $ 188,405 |  |  |  |  | $ 459 |  | 243,575 |  |  |  | (46,706) | (3,936) | $ (4,987) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options (in shares) |  |  |  |  |  | 34,000 |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options | 409 |  |  |  |  | $ 1 |  | 408 |  |  |  |  |  |  |
Net issuance of restricted stock awards (in shares) |  |  |  |  |  | 87,000 |  |  |  |  |  |  |  |  |
Net issuance of restricted stock awards | 265 |  |  |  |  | $ 2 |  | 263 |  |  |  |  |  |  |
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 76,000 |
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock | (3,974) |  |  |  |  |  |  |  |  |  |  |  |  | $ (3,974) |
Stock-based compensation | 1,320 |  |  |  |  |  |  | 1,320 |  |  |  |  |  |  |
Foreign currency translation adjustments | (302) |  |  |  |  |  |  |  |  |  |  |  | (302) |  |
Net loss | (8,271) |  |  |  |  |  |  |  |  |  |  | (8,271) |  |  |
Ending Balance (in shares) at Mar. 31, 2021 |  |  |  |  |  | 23,104,000 |  |  |  |  |  |  |  | 1,142,000 |
Ending Balance at Mar. 31, 2021 | $ 177,852 |  |  |  |  | $ 462 |  | 245,566 |  |  |  | (54,977) | (4,238) | $ (8,961) |
Beginning Balance (in shares) at Dec. 31, 2020 | 21,917,357 |  |  |  |  | 22,983,000 |  |  |  |  |  |  |  | 1,066,000 |
Beginning Balance at Dec. 31, 2020 | $ 188,405 |  |  |  |  | $ 459 |  | 243,575 |  |  |  | (46,706) | (3,936) | $ (4,987) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options (in shares) | 76,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Foreign currency translation adjustments | $ (56) |  |  |  |  |  |  |  |  |  |  |  |  |  |
Net loss | $ (50,160) |  |  |  |  |  |  |  |  |  |  |  |  |  |
Ending Balance (in shares) at Sep. 30, 2021 | 26,855,578 |  |  |  |  | 28,017,000 |  |  |  |  |  |  |  | 1,161,000 |
Ending Balance at Sep. 30, 2021 | $ 524,681 |  |  |  |  | $ 560 |  | 634,895 |  |  |  | (96,866) | (3,992) | $ (9,916) |
Beginning Balance (in shares) at Mar. 31, 2021 |  |  |  |  |  | 23,104,000 |  |  |  |  |  |  |  | 1,142,000 |
Beginning Balance at Mar. 31, 2021 | 177,852 |  |  |  |  | $ 462 |  | 245,566 |  |  |  | (54,977) | (4,238) | $ (8,961) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options (in shares) |  |  |  |  |  | 20,000 |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options | 209 |  |  |  |  |  |  | 209 |  |  |  |  |  |  |
Net issuance of restricted stock awards (in shares) |  |  |  |  |  | 28,000 |  |  |  |  |  |  |  |  |
Net issuance of restricted stock awards | 1 |  |  |  |  | $ 1 |  |  |  |  |  |  |  |  |
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 7,000 |
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock | (497) |  |  |  |  |  |  |  |  |  |  |  |  | $ (497) |
Issuance of restricted stock for acquisition (in shares) |  |  |  |  |  | 1,493,000 |  |  |  |  |  |  |  |  |
Issuance of restricted stock for acquisition | 108,659 |  |  |  |  | $ 30 |  | 108,629 |  |  |  |  |  |  |
Issuance of common stock (in shares) |  |  |  |  |  | (2,353,000) |  |  |  |  |  |  |  |  |
Issuance of common stock | 155,687 |  |  |  |  | $ 47 |  | 155,640 |  |  |  |  |  |  |
Stock-based compensation | 4,251 |  |  |  |  |  |  | 4,251 |  |  |  |  |  |  |
Foreign currency translation adjustments | 355 |  |  |  |  |  |  |  |  |  |  |  | 355 |  |
Net loss | (9,956) |  |  |  |  |  |  |  |  |  |  | (9,956) |  |  |
Ending Balance (in shares) at Jun. 30, 2021 |  |  |  |  |  | 26,998,000 |  |  |  |  |  |  |  | 1,149,000 |
Ending Balance at Jun. 30, 2021 | 436,561 |  |  |  |  | $ 540 |  | 514,295 |  |  |  | (64,933) | (3,883) | $ (9,458) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options (in shares) |  |  |  |  |  | 22,000 |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options | 200 |  |  |  |  | $ 1 |  | 199 |  |  |  |  |  |  |
Net issuance of restricted stock awards (in shares) |  |  |  |  |  | 15,000 |  |  |  |  |  |  |  |  |
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 12,000 |
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock | (458) |  |  |  |  |  |  |  |  |  |  |  |  | $ (458) |
Issuance of restricted stock for acquisition | 1,081 |  |  |  |  |  |  | 1,081 |  |  |  |  |  |  |
Issuance of common stock (in shares) |  |  |  |  |  |  | (982,000) |  |  |  |  |  |  |  |
Issuance of common stock | 63,068 |  |  | $ 52,486 |  |  | $ 19 | 63,068 |  |  | $ 52,467 |  |  |  |
Stock-based compensation | 3,785 |  |  |  |  |  |  | 3,785 |  |  |  |  |  |  |
Foreign currency translation adjustments | (109) |  |  |  |  |  |  |  |  |  |  |  | (109) |  |
Net loss | $ (31,933) |  |  |  |  |  |  |  |  |  |  | (31,933) |  |  |
Ending Balance (in shares) at Sep. 30, 2021 | 26,855,578 |  |  |  |  | 28,017,000 |  |  |  |  |  |  |  | 1,161,000 |
Ending Balance at Sep. 30, 2021 | $ 524,681 |  |  |  |  | $ 560 |  | $ 634,895 |  |  |  | $ (96,866) | $ (3,992) | $ (9,916) |

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