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Equity - Changes in Shareholders' Equity (Details) - USD ($)
$ in Thousands
 3 Months Ended 12 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Balance at beginning of period $ 194,842 $ 202,928 $ 202,928
Balance at beginning of period, shares 37,084,759    
Balance at beginning of period, shares 3,235,823    
Exercise of common stock options $ 3,848 3,261  
Issuance for employee stock purchase plan 169 203  
Vesting of RSUs and PSUs 1    
Shares withheld for employee taxes upon vesting of RSUs and PSUs (7,736) (3,382)  
Stock-based compensation 6,035 6,135  
Net loss (17,426) (13,069)  
Balance at end of period $ 179,733 196,076 $ 194,842
Balance at end of period, shares 37,816,843   37,084,759
Balance at end of period, shares 3,235,823   3,235,823
Common stock      
Balance at beginning of period $ 37 $ 36 $ 36
Balance at beginning of period, shares 37,084,759 35,806,119 35,806,119
Exercise of common stock options, shares 234,132 190,074  
Issuance for employee stock purchase plan, shares 11,329 13,421  
Vesting of RSUs and PSUs $ 1    
Vesting of RSUs and PSUs, shares 775,904 563,050  
Shares withheld for employee taxes upon vesting of RSUs and PSUs (289,281) (191,667)  
Balance at end of period $ 38 $ 36 $ 37
Balance at end of period, shares 37,816,843 36,380,997 37,084,759
Additional Paid-In Capital      
Balance at beginning of period $ 538,073 $ 502,095 $ 502,095
Exercise of common stock options 3,848 3,261  
Issuance for employee stock purchase plan 169 203  
Shares withheld for employee taxes upon vesting of RSUs and PSUs (7,736) (3,382)  
Stock-based compensation 6,035 6,135  
Share repurchases   (5,000)  
Balance at end of period 540,389 513,312 538,073
Treasury Stock      
Balance at beginning of period $ (61,924) $ (42,861) $ (42,861)
Balance at beginning of period, shares (3,235,823) 2,150,717 2,150,717
Share repurchases   $ (5,000)  
Share repurchases (in shares)   (307,132)  
Balance at end of period $ (61,924) $ (47,861) $ (61,924)
Balance at end of period, shares (3,235,823) 2,457,849 (3,235,823)
Accumulated Deficit      
Balance at beginning of period $ (281,344) $ (256,342) $ (256,342)
Net loss (17,426) (13,069)  
Balance at end of period $ (298,770) $ (269,411) $ (281,344)