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Equity - Statement of Stockholders' Equity (Details) - USD ($)
shares in Thousands, $ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Increase (Decrease) in Stockholders' Equity    
Balance at the beginning of the period $ 577,824 $ 437,628
Net income 8,741 13,330
Other comprehensive income (loss), net of tax 476 (822)
Share-based compensation expense 7,027 4,481
Net issuance under employee stock plans (8,509) (6,787)
Balance at the end of the period 585,559 403,570
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 $ 517 $ 507
Balance (in shares) 51,660 50,653
Net issuance under employee stock plans   $ 6
Net issuance under employee stock plans (in shares) 33 590
Balance at the end of the period $ 517 $ 513
Balance (in shares) 51,693 51,243
Additional Paid-in Capital    
Increase (Decrease) in Stockholders' Equity    
Balance at the beginning of the period $ 1,078,180 $ 1,116,921
Share-based compensation expense 7,027 4,481
Net issuance under employee stock plans (8,509) (6,793)
Balance at the end of the period 1,076,698 1,057,808
Additional Paid-in Capital | Cumulative Effect, Period of Adoption, Adjustment    
Increase (Decrease) in Stockholders' Equity    
Balance at the beginning of the period   (56,801)
Accumulated Deficit    
Increase (Decrease) in Stockholders' Equity    
Balance at the beginning of the period (501,801) (681,283)
Net income 8,741 13,330
Balance at the end of the period (493,060) (655,412)
Accumulated Deficit | 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 928 1,483
Other comprehensive income (loss), net of tax 476 (822)
Balance at the end of the period $ 1,404 $ 661