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CONDENSED CONSOLIDATED STATEMENTS OF CASH FLOWS - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Cash flows from operating activities:      
Net income (loss) from operations $ (5,455) $ 7,864 $ 3,044
Adjustments to reconcile net income (loss) from operations to net cash provided by (used in) operations:      
Depreciation, amortization, and impairment of intangible assets 12,003 11,545 12,138
Loss on disposal of assets 118 69 (49)
Deferred tax benefit (1,487) (1,624) (7,431)
Stock-based compensation 4,740 3,368 3,973
Changes in operating assets and liabilities:      
Accounts receivable, net 6,792 (3,414) (11,960)
Inventories, net 6,725 (5,391) (2,388)
Contract assets (191) 1,740 (2,167)
Accounts payable (5,237) 3,628 (1,475)
Income taxes payable (5,642) 158 (2,682)
Accrued expenses (3,124) (1,286) 2,211
Deferred compensation 574 (334) (291)
Deferred revenue 8,342 1,465 9,538
Other assets and liabilities (3,236) 456 (1,235)
Net cash provided by operating activities 14,922 18,244 1,226
Cash flows from investing activities:      
Purchase of short term investments (34,060) (33,839) (22,820)
Maturities of short term investments 32,630 31,399 80,000
Additions to property and equipment (3,101) (7,453) (3,685)
Other (133)   (236)
Net cash provided by (used in) investing activities (4,664) (9,893) 194
Cash flows from financing activities:      
Repurchase of common stock (5,030)    
Tax payments for restricted stock issuances (2,030) (569) (970)
Net cash used in financing activities (7,060) (569) (970)
Effect of exchange rate changes on cash 914 (208) (1,556)
Net increase (decrease) in cash 4,112 7,574 (1,106)
Cash, cash equivalents, and restricted cash, beginning of period 85,129 77,555 78,661
Cash, cash equivalents, and restricted cash, end of period 89,241 85,129 77,555
Supplemental cash flow disclosures:      
Cash paid for income taxes $ 9,422 $ 7,839 $ 10,884