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Equity - Statement of Stockholders' Equity (Details) - USD ($)
shares in Thousands, $ in Thousands
 3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Increase (Decrease) in Stockholders' Equity    
Balance at the beginning of the period $ 437,628 $ 408,374
Net income 13,330 2,494
Other comprehensive income (loss), net of tax (822) (19)
Share-based compensation expense 4,481 3,237
Net issuance under employee stock plans (6,787) (1,625)
Balance at the end of the period 403,570 412,461
Cumulative Effect, Period of Adoption, Adjustment    
Increase (Decrease) in Stockholders' Equity    
Balance at the beginning of the period (44,260)  
Common Stock    
Increase (Decrease) in Stockholders' Equity    
Balance at the beginning of the period $ 507 $ 497
Balance (in shares) 50,653 49,724
Net issuance under employee stock plans $ 6 $ 5
Net issuance under employee stock plans (in shares) 590 459
Balance at the end of the period $ 513 $ 502
Balance (in shares) 51,243 50,183
Additional Paid-in Capital    
Increase (Decrease) in Stockholders' Equity    
Balance at the beginning of the period $ 1,116,921 $ 1,113,352
Share-based compensation expense 4,481 3,237
Net issuance under employee stock plans (6,793) (1,630)
Balance at the end of the period 1,057,808 1,114,959
Additional Paid-in Capital | Cumulative Effect, Period of Adoption, Adjustment    
Increase (Decrease) in Stockholders' Equity    
Balance at the beginning of the period (56,801)  
Retained Earnings    
Increase (Decrease) in Stockholders' Equity    
Balance at the beginning of the period (681,283) (707,321)
Net income 13,330 2,494
Balance at the end of the period (655,412) (704,827)
Retained Earnings | Cumulative Effect, Period of Adoption, Adjustment    
Increase (Decrease) in Stockholders' Equity    
Balance at the beginning of the period 12,541  
Accumulated Other Comprehensive Income    
Increase (Decrease) in Stockholders' Equity    
Balance at the beginning of the period 1,483 1,846
Other comprehensive income (loss), net of tax (822) (19)
Balance at the end of the period $ 661 $ 1,827