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Equity - Changes in Shareholders' Equity (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Sep. 30, 2022
Sep. 30, 2021
Balance at beginning of period $ 197,612 $ 196,076 $ 202,928 $ 253,066 $ 170,035 $ 186,031 $ 202,928 $ 186,031
Balance at beginning of period, shares     35,806,119       35,806,119  
Balance at beginning of period, shares     2,150,717       2,150,717  
Exercise of common stock options 142 1,545 $ 3,261 1,337 4,093 4,102    
Issuance for employee stock purchase plan 134   203 397   358    
Vesting of RSUs and PSUs   1            
Shares withheld for employee taxes upon vesting of RSUs and PSUs (106) (511) (3,382) (220) (421)      
Shares withheld for employee taxes upon vesting of RSUs and PSUs           (3,508)    
Share repurchases (6,422)     (17,480)        
Stock-based compensation 5,377 5,692 6,135 5,948 6,516 6,879    
Net income (loss) 457 (5,191) (13,069) 8,046 72,843 15,662 $ (17,803) 96,551
Balance at end of period $ 197,194 197,612 196,076 251,094 253,066 170,035 $ 197,194 251,094
Balance at end of period, shares 36,599,298           36,599,298  
Balance at end of period, shares 2,824,062           2,824,062  
Adjustment.                
Balance at beginning of period           (39,489)   (39,489)
Common stock                
Balance at beginning of period $ 37 $ 36 $ 36 $ 36 $ 35 $ 35 $ 36 $ 35
Balance at beginning of period, shares 36,567,830 36,380,997 35,806,119 35,523,917 35,203,824 34,612,054 35,806,119 34,612,054
Exercise of common stock options         $ 1      
Exercise of common stock options, shares 10,395 102,283 190,074 91,268 273,127 289,164    
Issuance for employee stock purchase plan, shares 9,206   13,421 19,089   24,630    
Vesting of RSUs and PSUs   $ 1            
Vesting of RSUs and PSUs, shares 17,644 111,056 563,050 33,098 65,107 413,538    
Shares withheld for employee taxes upon vesting of RSUs and PSUs, shares (5,777) (26,506) (191,667) (11,179) (18,141)      
Shares withheld for employee taxes upon vesting of RSUs and PSUs           (135,562)    
Balance at end of period $ 37 $ 37 $ 36 $ 36 $ 36 $ 35 $ 37 $ 36
Balance at end of period, shares 36,599,298 36,567,830 36,380,997 35,656,193 35,523,917 35,203,824 36,599,298 35,656,193
Additional Paid-In Capital                
Balance at beginning of period $ 520,038 $ 513,312 $ 502,095 $ 492,384 $ 482,197 $ 519,143 $ 502,095 $ 519,143
Exercise of common stock options 142 1,545 3,261 1,337 4,092 4,102    
Issuance for employee stock purchase plan 134   203 397   358    
Shares withheld for employee taxes upon vesting of RSUs and PSUs (106) (511) (3,382) (220) (421)      
Shares withheld for employee taxes upon vesting of RSUs and PSUs           (3,508)    
Share repurchases     5,000          
Stock-based compensation 5,377 5,692 6,135 5,948 6,516 6,879    
Balance at end of period 525,585 520,038 513,312 499,846 492,384 482,197 525,585 499,846
Additional Paid-In Capital | Adjustment.                
Balance at beginning of period           (44,777)   (44,777)
Treasury Stock, at cost                
Balance at beginning of period $ (47,861) $ (47,861) $ (42,861)       $ (42,861)  
Balance at beginning of period, shares (2,457,849) (2,457,849) (2,150,717)       (2,150,717)  
Share repurchases $ (6,422)   $ (5,000) $ (17,480)        
Share repurchases (in shares) (366,213)   (307,132) (859,040)        
Balance at end of period $ (54,283) $ (47,861) $ (47,861) $ (17,480)     $ (54,283) $ (17,480)
Balance at end of period, shares (2,824,062) (2,457,849) (2,457,849) (859,040)     (2,824,062) (859,040)
Accumulated Deficit                
Balance at beginning of period $ (274,602) $ (269,411) $ (256,342) $ (239,354) (312,197) (333,147) $ (256,342) $ (333,147)
Net income (loss) 457 (5,191) (13,069) 8,046 72,843 15,662    
Balance at end of period $ (274,145) $ (274,602) $ (269,411) $ (231,308) $ (239,354) (312,197) $ (274,145) (231,308)
Accumulated Deficit | Adjustment.                
Balance at beginning of period           $ 5,288   $ 5,288