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Equity - Changes in Shareholders' Equity (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2022
Mar. 31, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Balance at beginning of period $ 179,733 $ 194,842 $ 196,076 $ 202,928 $ 194,842 $ 202,928 $ 202,928
Balance at beginning of period, shares   37,084,759     37,084,759    
Balance at beginning of period, shares   3,235,823     3,235,823    
Exercise of common stock options 1,251 $ 3,848 1,545 3,261      
Issuance for employee stock purchase plan   169   203      
Vesting of RSUs and PSUs   1 1        
Shares withheld for employee taxes upon vesting of RSUs and PSUs (220) (7,736) (511) (3,382)      
Stock-based compensation 7,072 6,035 5,692 6,135      
Other comprehensive loss, net of tax (38)            
Net income (loss) 13,007 (17,426) (5,191) (13,069) $ (4,419) (18,260)  
Balance at end of period $ 200,805 179,733 197,612 196,076 $ 200,805 197,612 $ 194,842
Balance at end of period, shares 37,953,398       37,953,398   37,084,759
Balance at end of period, shares 3,235,823       3,235,823   3,235,823
Common stock              
Balance at beginning of period $ 38 $ 37 $ 36 $ 36 $ 37 $ 36 $ 36
Balance at beginning of period, shares 37,816,843 37,084,759 36,380,997 35,806,119 37,084,759 35,806,119 35,806,119
Exercise of common stock options, shares 72,405 234,132 102,283 190,074      
Issuance for employee stock purchase plan, shares   11,329   13,421      
Vesting of RSUs and PSUs   $ 1 $ 1        
Vesting of RSUs and PSUs, shares 73,805 775,904 111,056 563,050      
Shares withheld for employee taxes upon vesting of RSUs and PSUs (9,655) (289,281) (26,506) (191,667)      
Balance at end of period $ 38 $ 38 $ 37 $ 36 $ 38 $ 37 $ 37
Balance at end of period, shares 37,953,398 37,816,843 36,567,830 36,380,997 37,953,398 36,567,830 37,084,759
Additional Paid-In Capital              
Balance at beginning of period $ 540,389 $ 538,073 $ 513,312 $ 502,095 $ 538,073 $ 502,095 $ 502,095
Exercise of common stock options 1,251 3,848 1,545 3,261      
Issuance for employee stock purchase plan   169   203      
Shares withheld for employee taxes upon vesting of RSUs and PSUs (220) (7,736) (511) (3,382)      
Stock-based compensation 7,072 6,035 5,692 6,135      
Share repurchases       (5,000)      
Balance at end of period 548,492 540,389 520,038 513,312 548,492 520,038 538,073
Treasury Stock              
Balance at beginning of period $ (61,924) $ (61,924) $ (47,861) $ (42,861) $ (61,924) $ (42,861) $ (42,861)
Balance at beginning of period, shares 3,235,823 3,235,823 (2,457,849) (2,150,717) 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) $ (61,924) $ (47,861) $ (47,861) $ (61,924) $ (47,861) $ (61,924)
Balance at end of period, shares 3,235,823 3,235,823 (2,457,849) (2,457,849) 3,235,823 (2,457,849) 3,235,823
Accumulated Deficit              
Balance at beginning of period $ (298,770) $ (281,344) $ (269,411) $ (256,342) $ (281,344) $ (256,342) $ (256,342)
Net income (loss) 13,007 (17,426) (5,191) (13,069)      
Balance at end of period (285,763) $ (298,770) $ (274,602) $ (269,411) (285,763) $ (274,602) $ (281,344)
Accumulated Other Comprehensive Loss              
Other comprehensive loss, net of tax (38)            
Balance at end of period $ (38)       $ (38)