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Equity - Changes in Shareholders' Equity (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Balance at beginning of period $ 200,805 $ 179,733 $ 194,842 $ 197,612 $ 196,076 $ 202,928 $ 194,842 $ 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 302 1,251 $ 3,848 142 1,545 3,261    
Issuance for employee stock purchase plan 291   169 134   203    
Vesting of RSUs and PSUs     1   1      
Shares withheld for employee taxes upon vesting of RSUs and PSUs (172) (220) (7,736) (106) (511) (3,382)    
Share repurchases from Accelerated Share Repurchase ("ASR") agreement. (40,000)     (6,422)        
Forward contract on ASR agreement (10,000)              
Stock-based compensation 7,027 7,072 6,035 5,377 5,692 6,135    
Other comprehensive loss, net of tax (14) (38)            
Net income (loss) 20,634 13,007 (17,426) 457 (5,191) (13,069) $ 16,215 (17,803)
Balance at end of period $ 178,873 200,805 179,733 197,194 197,612 196,076 $ 178,873 197,194
Balance at end of period, shares 38,000,607           38,000,607  
Balance at end of period, shares (4,938,675)           (4,938,675)  
Common stock                
Balance at beginning of period $ 38 $ 38 $ 37 $ 37 $ 36 $ 36 $ 37 $ 36
Balance at beginning of period, shares 37,953,398 37,816,843 37,084,759 36,567,830 36,380,997 35,806,119 37,084,759 35,806,119
Exercise of common stock options, shares 21,185 72,405 234,132 10,395 102,283 190,074    
Issuance for employee stock purchase plan, shares 15,176   11,329 9,206   13,421    
Vesting of RSUs and PSUs     $ 1   $ 1      
Vesting of RSUs and PSUs, shares 18,207 73,805 775,904 17,644 111,056 563,050    
Shares withheld for employee taxes upon vesting of RSUs and PSUs (7,359) (9,655) (289,281) (5,777) (26,506) (191,667)    
Balance at end of period $ 38 $ 38 $ 38 $ 37 $ 37 $ 36 $ 38 $ 37
Balance at end of period, shares 38,000,607 37,953,398 37,816,843 36,599,298 36,567,830 36,380,997 38,000,607 36,599,298
Additional Paid-In Capital                
Balance at beginning of period $ 548,492 $ 540,389 $ 538,073 $ 520,038 $ 513,312 $ 502,095 $ 538,073 $ 502,095
Exercise of common stock options 302 1,251 3,848 142 1,545 3,261    
Issuance for employee stock purchase plan 291   169 134   203    
Shares withheld for employee taxes upon vesting of RSUs and PSUs (172) (220) (7,736) (106) (511) (3,382)    
Share repurchases from Accelerated Share Repurchase ("ASR") agreement.           5,000    
Forward contract on ASR agreement (10,000)              
Stock-based compensation 7,027 7,072 6,035 5,377 5,692 6,135    
Balance at end of period 545,940 548,492 540,389 525,585 520,038 513,312 545,940 525,585
Treasury Stock                
Balance at beginning of period $ (61,924) $ (61,924) $ (61,924) $ (47,861) $ (47,861) $ (42,861) $ (61,924) $ (42,861)
Balance at beginning of period, shares (3,235,823) (3,235,823) (3,235,823) (2,457,849) (2,457,849) (2,150,717) (3,235,823) (2,150,717)
Share repurchases from Accelerated Share Repurchase ("ASR") agreement. $ (40,000)     $ (6,422)   $ (5,000)    
Share repurchases from Accelerated Share Repurchase ("ASR") agreement. (in shares) (1,702,852)     (366,213)   (307,132)    
Balance at end of period $ (101,924) $ (61,924) $ (61,924) $ (54,283) $ (47,861) $ (47,861) $ (101,924) $ (54,283)
Balance at end of period, shares (4,938,675) (3,235,823) (3,235,823) (2,824,062) (2,457,849) (2,457,849) (4,938,675) (2,824,062)
Accumulated Deficit                
Balance at beginning of period $ (285,763) $ (298,770) $ (281,344) $ (274,602) $ (269,411) $ (256,342) $ (281,344) $ (256,342)
Net income (loss) 20,634 13,007 (17,426) 457 (5,191) (13,069)    
Balance at end of period (265,129) (285,763) $ (298,770) $ (274,145) $ (274,602) $ (269,411) (265,129) $ (274,145)
Accumulated Other Comprehensive Loss                
Balance at beginning of period (38)              
Other comprehensive loss, net of tax (14) (38)            
Balance at end of period $ (52) $ (38)         $ (52)