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CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY - USD ($) $ in Thousands | Total | Cumulative Effect, Period of Adoption, Adjustment | Cumulative Effect, Period of Adoption, Adjusted Balance | 2027 Notes | Common Stock | Capital in Excess of Par Value | Capital in Excess of Par Value Cumulative Effect, Period of Adoption, Adjustment | Capital in Excess of Par Value Cumulative Effect, Period of Adoption, Adjusted Balance | Capital in Excess of Par Value 2027 Notes | (Accumulated Deficit) Retained Earnings | (Accumulated Deficit) Retained Earnings Cumulative Effect, Period of Adoption, Adjustment | (Accumulated Deficit) Retained Earnings Cumulative Effect, Period of Adoption, Adjusted Balance | Accumulated Other Comprehensive Income (Loss) | Treasury Stock
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Accounting Standards Update [Extensible Enumeration] | us-gaap:AccountingStandardsUpdate202006Member |  |  |  |  |  |  |  |  |  |  |  |  |
Balance (in shares) at Dec. 31, 2020 |  |  |  |  | 22,983,000 |  |  |  |  |  |  |  |  |
Balance at Dec. 31, 2020 | $ 188,405 |  |  |  | $ 459 | $ 243,575 |  |  |  | $ (46,706) |  |  | $ (3,936) | $ (4,987)
Treasury stock (in shares) at Dec. 31, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,066,000
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options (in shares) |  |  |  |  | 105,000 |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options | 1,156 |  |  |  | $ 2 | 1,154 |  |  |  |  |  |  |  |
Net issuance of restricted stock awards (in shares) |  |  |  |  | 2,000 |  |  |  |  |  |  |  |  |
Net issuance of restricted stock units (in shares) |  |  |  |  | 176,000 |  |  |  |  |  |  |  |  |
Net issuance of restricted stock units | 372 |  |  |  | $ 4 | 368 |  |  |  |  |  |  |  |
Issuance of restricted stock for acquisition (in shares) |  |  |  |  | 1,493,000 |  |  |  |  |  |  |  |  |
Issuance of restricted stock for acquisition | 110,219 |  |  |  | $ 30 | 110,189 |  |  |  |  |  |  |  |
Treasury stock acquired from employees upon exercise of stock options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 115,000
Treasury stock acquired from employees upon exercise of stock options | (5,958) |  |  |  |  |  |  |  |  |  |  |  |  | $ (5,958)
Stock-based compensation | 14,615 |  |  |  |  | 14,615 |  |  |  |  |  |  |  |
Proceeds from public share offering, net of issuance costs (in shares) |  |  |  |  | 3,335,000 |  |  |  |  |  |  |  |  |
Proceeds from public share offering, net of issuance costs | 208,172 |  |  | $ 62,931 | $ 67 | 208,105 |  |  | $ 62,931 |  |  |  |  |
Foreign currency translation adjustments | 232 |  |  |  |  |  |  |  |  |  |  |  | 232 |
Net loss | (75,799) |  |  |  |  |  |  |  |  | (75,799) |  |  |  |
Balance (in shares) at Dec. 31, 2021 |  |  |  |  | 28,094,000 |  |  |  |  |  |  |  |  |
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) |  |  |  |  | 133,000 |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options | 1,286 |  |  |  | $ 3 | 1,283 |  |  |  |  |  |  |  |
Net issuance of restricted stock awards (in shares) |  |  |  |  | 200,000 |  |  |  |  |  |  |  |  |
Net issuance of restricted stock awards | 1 |  |  |  | $ 2 | (1) |  |  |  |  |  |  |  |
Issuance of restricted stock for acquisition (in shares) |  |  |  |  | 163,000 |  |  |  |  |  |  |  |  |
Issuance of restricted stock for acquisition | 6,300 |  |  |  | $ 3 | 6,297 |  |  |  |  |  |  |  |
Treasury stock acquired from employees upon exercise of stock options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 90,000
Treasury stock acquired from employees upon exercise of stock options | (3,148) |  |  |  |  |  |  |  |  |  |  |  |  | $ (3,148)
Stock-based compensation | 13,426 |  |  |  |  | 13,426 |  |  |  |  |  |  |  |
Foreign currency translation adjustments | 2,339 |  |  |  |  |  |  |  |  |  |  |  | 2,339 |
Net loss | $ (69,319) |  |  |  |  |  |  |  |  | (69,319) |  |  |  |
Balance (in shares) at Dec. 31, 2022 | 27,319,045 |  |  |  | 28,590,000 |  |  |  |  |  |  |  |  |
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) | 97,000 |  |  |  | 96,000 |  |  |  |  |  |  |  |  |
Issuance of common stock upon the exercise of stock options | $ 1,069 |  |  |  | $ 2 | 1,067 |  |  |  |  |  |  |  |
Net issuance of restricted stock awards (in shares) |  |  |  |  | 203,000 |  |  |  |  |  |  |  |  |
Net issuance of restricted stock awards | 2 |  |  |  | $ 2 |  |  |  |  |  |  |  |  |
Issuance of common stock for conversion of 2024 Notes (in shares) |  |  |  |  | 497,000 |  |  |  |  |  |  |  |  |
Issuance of common stock for conversion of 2024 Notes | 14,384 |  |  |  | $ 10 | 14,374 |  |  |  |  |  |  |  |
Treasury stock acquired from employees upon exercise of stock options (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 85,000
Treasury stock acquired from employees upon exercise of stock options | (2,685) |  |  |  |  |  |  |  |  |  |  |  |  | $ (2,685)
Stock-based compensation | 14,427 |  |  |  |  | 14,427 |  |  |  |  |  |  |  |
Foreign currency translation adjustments | 426 |  |  |  |  |  |  |  |  |  |  |  | 426 |
Net loss | $ (69,752) |  |  |  |  |  |  |  |  | (69,752) |  |  |  |
Balance (in shares) at Dec. 31, 2023 | 28,029,915 |  |  |  | 29,386,000 |  |  |  |  |  |  |  |  |
Balance at Dec. 31, 2023 | $ 333,065 |  |  |  | $ 584 | $ 625,154 |  |  |  | $ (274,956) |  |  | $ (939) | $ (16,778)
Treasury stock (in shares) at Dec. 31, 2023 | 1,356,319 |  |  |  |  |  |  |  |  |  |  |  |  | 1,356,000

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