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Convertible Subordinated Notes Convertible Subordinated Notes (Liability and Equity Components) (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Mar. 12, 2021
Debt Instrument [Line Items]        
Accumulated Amortization, Debt Issuance Costs $ 1,324 $ 819    
Debt Issuance Costs, Net 1,543 1,136    
Amortization of debt issuance costs 576 782 $ 392  
Convertible subordinated notes        
Debt Instrument [Line Items]        
Accumulated Amortization, Debt Issuance Costs   63    
Principal amount 0 2,559   $ 200
Unamortized discount of liability component 0 (20)    
Debt Issuance Costs, Net 0 1    
Convertible subordinated notes due 2021 0 2,538    
Carrying value of the equity component 0 319    
Interest expense 18 149 174  
Accretion of discount 20 216 241  
Amortization of debt issuance costs $ 1 $ 20 $ 24