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Income Taxes - Reconciliation to Statutory Tax Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Taxes
Income tax expense (benefit) at U.S. statutory rates	$ 5,393	$ (1,777)	$ (16,396)
State taxes, net of U.S. federal impact	(607)	(121)	(835)
Effect of international operations	609	(131)	785
Research and development tax credit	(3,964)	726	(1,692)
Net change in valuation allowance	(2,389)	388	15,098
Change in accrual for unrecognized tax benefits	398	(6)	1,232
Share-based compensation	1,208	2,248	1,947
Asset impairment		728	495
Partial extinguishment of 2023 Notes	(1,090)	(2,292)
Other	84	164	143
Total expense (benefit) for income taxes	$ (358)	$ (73)	$ 777

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