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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
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Beginning balance (in shares) at Dec. 31, 2021 |  |  |  | 28,095,000 |  |  |  |  |  |  |  |
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)
Treasury stock (in shares) at Dec. 31, 2021 |  |  |  |  |  |  |  |  |  |  |  | 1,181,000
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options (in shares) |  |  |  | 96,000 |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options | 813 |  |  | $ 2 | 811 |  |  |  |  |  |  |
Net issuance of restricted stock awards and restricted stock units (in shares) |  |  |  | 88,000 |  |  |  |  |  |  |  |
Net issuance of restricted stock awards and restricted stock units | 1 |  |  | $ 1 |  |  |  |  |  |  |  |
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 |  |  |  | 28,279,000 |  |  |  |  |  |  |  |
Ending balance at Mar. 31, 2022 | 411,470 |  |  | $ 565 | 578,628 |  |  | (151,535) |  |  | (3,192) | $ (12,996)
Treasury stock (in shares) at Mar. 31, 2022 |  |  |  |  |  |  |  |  |  |  |  | 1,226,000
Beginning balance (in shares) at Dec. 31, 2021 |  |  |  | 28,095,000 |  |  |  |  |  |  |  |
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)
Treasury stock (in shares) at Dec. 31, 2021 |  |  |  |  |  |  |  |  |  |  |  | 1,181,000
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |
Foreign currency translation adjustments | (500) |  |  |  |  |  |  |  |  |  |  |
Net loss | (55,838) |  |  |  |  |  |  |  |  |  |  |
Ending balance (in shares) at Sep. 30, 2022 |  |  |  | 28,529,000 |  |  |  |  |  |  |  |
Ending balance at Sep. 30, 2022 | 383,086 |  |  | $ 569 | 592,100 |  |  | (191,723) |  |  | (4,204) | $ (13,656)
Treasury stock (in shares) at Sep. 30, 2022 |  |  |  |  |  |  |  |  |  |  |  | 1,247,000
Beginning balance (in shares) at Mar. 31, 2022 |  |  |  | 28,279,000 |  |  |  |  |  |  |  |
Beginning balance at Mar. 31, 2022 | 411,470 |  |  | $ 565 | 578,628 |  |  | (151,535) |  |  | (3,192) | $ (12,996)
Treasury stock (in shares) at Mar. 31, 2022 |  |  |  |  |  |  |  |  |  |  |  | 1,226,000
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options (in shares) |  |  |  | 16,000 |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options | 205 |  |  |  | 205 |  |  |  |  |  |  |
Net issuance of restricted stock awards and restricted stock units (in shares) |  |  |  | 36,000 |  |  |  |  |  |  |  |
Net issuance of restricted stock awards and restricted stock units | 0 |  |  |  |  |  |  |  |  |  |  |
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 | (397) |  |  |  |  |  |  |  |  |  |  | $ (397)
Stock-based compensation | 3,231 |  |  |  | 3,231 |  |  |  |  |  |  |
Foreign currency translation adjustments | (161) |  |  |  |  |  |  |  |  |  | (161) |
Net loss | (18,848) |  |  |  |  |  |  | (18,848) |  |  |  |
Ending balance (in shares) at Jun. 30, 2022 |  |  |  | 28,331,000 |  |  |  |  |  |  |  |
Ending balance at Jun. 30, 2022 | 395,500 |  |  | $ 565 | 582,064 |  |  | (170,383) |  |  | (3,353) | $ (13,393)
Treasury stock (in shares) at Jun. 30, 2022 |  |  |  |  |  |  |  |  |  |  |  | 1,238,000
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options (in shares) |  |  |  | 17,000 |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options | 250 |  |  | $ 1 | 249 |  |  |  |  |  |  |
Net issuance of restricted stock awards and restricted stock units (in shares) |  |  |  | 18,000 |  |  |  |  |  |  |  |
Net issuance of restricted stock awards and restricted stock units | 0 |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock for acquisition (in shares) |  |  |  | 163,000 |  |  |  |  |  |  |  |
Issuance of common stock for acquisition | 6,300 |  |  | $ 3 | 6,297 |  |  |  |  |  |  |
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock (in shares) |  |  |  |  |  |  |  |  |  |  |  | 9,000
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock | (263) |  |  |  |  |  |  |  |  |  |  | $ (263)
Stock-based compensation | 3,490 |  |  |  | 3,490 |  |  |  |  |  |  |
Foreign currency translation adjustments | (851) |  |  |  |  |  |  |  |  |  | (851) |
Net loss | (21,340) |  |  |  |  |  |  | (21,340) |  |  |  |
Ending balance (in shares) at Sep. 30, 2022 |  |  |  | 28,529,000 |  |  |  |  |  |  |  |
Ending balance at Sep. 30, 2022 | $ 383,086 |  |  | $ 569 | 592,100 |  |  | (191,723) |  |  | (4,204) | $ (13,656)
Treasury stock (in shares) at Sep. 30, 2022 |  |  |  |  |  |  |  |  |  |  |  | 1,247,000
Beginning balance (in shares) at Dec. 31, 2022 | 27,319,045 |  |  | 28,590,000 |  |  |  |  |  |  |  |
Beginning balance at Dec. 31, 2022 | $ 375,194 |  |  | $ 570 | 595,286 |  |  | (205,204) |  |  | (1,365) | $ (14,093)
Treasury stock (in shares) at Dec. 31, 2022 | 1,270,522 |  |  |  |  |  |  |  |  |  |  | 1,271,000
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options (in shares) |  |  |  | 5,000 |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options | $ 52 |  |  |  | 52 |  |  |  |  |  |  |
Net issuance of restricted stock awards and restricted stock units (in shares) |  |  |  | 160,000 |  |  |  |  |  |  |  |
Net issuance of restricted stock awards and restricted stock units | 2 |  |  | $ 2 |  |  |  |  |  |  |  |
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock (in shares) |  |  |  |  |  |  |  |  |  |  |  | 79,000
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock | (2,478) |  |  |  |  |  |  |  |  |  |  | $ (2,478)
Stock-based compensation | 3,055 |  |  |  | 3,055 |  |  |  |  |  |  |
Foreign currency translation adjustments | (42) |  |  |  |  |  |  |  |  |  | (42) |
Net loss | (15,905) |  |  |  |  |  |  | (15,905) |  |  |  |
Ending balance (in shares) at Mar. 31, 2023 |  |  |  | 28,755,000 |  |  |  |  |  |  |  |
Ending balance at Mar. 31, 2023 | $ 359,878 |  |  | $ 572 | 598,393 |  |  | (221,109) |  |  | (1,407) | $ (16,571)
Treasury stock (in shares) at Mar. 31, 2023 |  |  |  |  |  |  |  |  |  |  |  | 1,350,000
Beginning balance (in shares) at Dec. 31, 2022 | 27,319,045 |  |  | 28,590,000 |  |  |  |  |  |  |  |
Beginning balance at Dec. 31, 2022 | $ 375,194 |  |  | $ 570 | 595,286 |  |  | (205,204) |  |  | (1,365) | $ (14,093)
Treasury stock (in shares) at Dec. 31, 2022 | 1,270,522 |  |  |  |  |  |  |  |  |  |  | 1,271,000
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options (in shares) | 88,000 |  |  |  |  |  |  |  |  |  |  |
Foreign currency translation adjustments | $ (142) |  |  |  |  |  |  |  |  |  |  |
Net loss | $ (51,123) |  |  |  |  |  |  |  |  |  |  |
Ending balance (in shares) at Sep. 30, 2023 | 27,520,284 |  |  | 28,878,000 |  |  |  |  |  |  |  |
Ending balance at Sep. 30, 2023 | $ 332,740 |  |  | $ 574 | 606,836 |  |  | (256,327) |  |  | (1,507) | $ (16,836)
Treasury stock (in shares) at Sep. 30, 2023 | 1,357,612 |  |  |  |  |  |  |  |  |  |  | 1,358,000
Beginning balance (in shares) at Mar. 31, 2023 |  |  |  | 28,755,000 |  |  |  |  |  |  |  |
Beginning balance at Mar. 31, 2023 | $ 359,878 |  |  | $ 572 | 598,393 |  |  | (221,109) |  |  | (1,407) | $ (16,571)
Treasury stock (in shares) at Mar. 31, 2023 |  |  |  |  |  |  |  |  |  |  |  | 1,350,000
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options (in shares) |  |  |  | 9,000 |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options | 147 |  |  |  | 147 |  |  |  |  |  |  |
Net issuance of restricted stock awards and restricted stock units (in shares) |  |  |  | 35,000 |  |  |  |  |  |  |  |
Net issuance of restricted stock awards and restricted stock units | 0 |  |  | $ 0 |  |  |  |  |  |  |  |
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock (in shares) |  |  |  |  |  |  |  |  |  |  |  | 6,000
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock | (205) |  |  |  |  |  |  |  |  |  |  | $ (205)
Stock-based compensation | 3,615 |  |  |  | 3,615 |  |  |  |  |  |  |
Foreign currency translation adjustments | (1,517) |  |  |  |  |  |  |  |  |  | (1,517) |
Net loss | (19,702) |  |  |  |  |  |  | (19,702) |  |  |  |
Ending balance (in shares) at Jun. 30, 2023 |  |  |  | 28,799,000 |  |  |  |  |  |  |  |
Ending balance at Jun. 30, 2023 | 342,216 |  |  | $ 572 | 602,155 |  |  | (240,811) |  |  | (2,924) | $ (16,776)
Treasury stock (in shares) at Jun. 30, 2023 |  |  |  |  |  |  |  |  |  |  |  | 1,356,000
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options (in shares) |  |  |  | 74,000 |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options | 711 |  |  | $ 2 | 709 |  |  |  |  |  |  |
Net issuance of restricted stock awards and restricted stock units (in shares) |  |  |  | 5,000 |  |  |  |  |  |  |  |
Net issuance of restricted stock awards and restricted stock units | 0 |  |  | $ 0 |  |  |  |  |  |  |  |
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 | (60) |  |  |  |  |  |  |  |  |  |  | $ (60)
Stock-based compensation | 3,972 |  |  |  | 3,972 |  |  |  |  |  |  |
Foreign currency translation adjustments | 1,417 |  |  |  |  |  |  |  |  |  | 1,417 |
Net loss | $ (15,516) |  |  |  |  |  |  | (15,516) |  |  |  |
Ending balance (in shares) at Sep. 30, 2023 | 27,520,284 |  |  | 28,878,000 |  |  |  |  |  |  |  |
Ending balance at Sep. 30, 2023 | $ 332,740 |  |  | $ 574 | $ 606,836 |  |  | $ (256,327) |  |  | $ (1,507) | $ (16,836)
Treasury stock (in shares) at Sep. 30, 2023 | 1,357,612 |  |  |  |  |  |  |  |  |  |  | 1,358,000

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