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CONDENSED CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY - USD ($) $ in Thousands | Total | Cumulative Effect, Period of Adoption, Adjustment | Cumulative Effect, Period of Adoption, Adjusted Balance | Common Stock | Additional Paid in Capital | Additional Paid in Capital Cumulative Effect, Period of Adoption, Adjustment | Additional Paid in Capital Cumulative Effect, Period of Adoption, Adjusted Balance | Accumulated Deficit | Accumulated Deficit Cumulative Effect, Period of Adoption, Adjustment | Accumulated Deficit Cumulative Effect, Period of Adoption, Adjusted Balance | Accumulated Other Comprehensive Income (Loss) | Treasury Stock
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Beginning Balance (in shares) at Dec. 31, 2020 |  |  |  | 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 and restricted stock units | 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, 2021 | 26,924,397 |  |  | 28,095,000 |  |  |  |  |  |  |  | 1,181,000
Beginning Balance at Dec. 31, 2021 | $ 504,345 | $ (80,036) | $ 424,309 | $ 562 | 640,937 | $ (66,656) | $ 574,281 | (122,505) | $ (13,380) | $ (135,885) | (3,704) | $ (10,945)
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options (in shares) | 96,000 |  |  | 96,000 |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options | $ 813 |  |  | $ 2 | 811 |  |  |  |  |  |  |
Net issuance of restricted stock awards (in shares) |  |  |  | 88,000 |  |  |  |  |  |  |  |
Net issuance of restricted stock awards and restricted stock units | 1 |  |  | $ 1 | 0 |  |  |  |  |  |  |
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock (in shares) |  |  |  |  |  |  |  |  |  |  |  | 45,000
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock | (2,051) |  |  |  |  |  |  |  |  |  |  | $ (2,051)
Stock-based compensation | 3,536 |  |  |  | 3,536 |  |  |  |  |  |  |
Foreign currency translation adjustments | 512 |  |  |  |  |  |  |  |  |  | 512 |
Net loss | $ (15,650) |  |  |  |  |  |  | (15,650) |  |  |  |
Ending Balance (in shares) at Mar. 31, 2022 | 27,052,454 |  |  | 28,279,000 |  |  |  |  |  |  |  | 1,226,000
Ending Balance at Mar. 31, 2022 | $ 411,470 |  |  | $ 565 | $ 578,628 |  |  | $ (151,535) |  |  | $ (3,192) | $ (12,996)
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |
Accounting Standards Update [Extensible Enumeration] | Accounting Standards Update 2020-06 [Member] |  |  |  |  |  |  |  |  |  |  |

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