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Stock-Based Compensation and Stockholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands |  |  |  |  |  |  |  |  |  |  |  | 1 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Dec. 31, 2021 | Jun. 30, 2021 | May 18, 2021 | Dec. 11, 2020 | Nov. 23, 2020 | Oct. 15, 2020 | Aug. 25, 2020 | Mar. 10, 2020 | Jan. 28, 2020 | Dec. 03, 2019 | Nov. 18, 2019 | Jun. 30, 2020 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2016
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock options granted during period (in shares) |  |  |  | 482,000 |  | 388,892 |  |  |  | 5,556 | 2,549,552 |  | 0 | 872,003 |  |
Granted (in dollars per share) |  |  |  | $ 10.35 |  | $ 13.82 |  |  |  | $ 16.20 | $ 16.20 |  | $ 0 | $ 11.90 |  |
Nonvested award, option, cost not yet recognized, amount | $ 8,500 |  |  |  |  |  |  |  |  |  |  |  | $ 8,500 | $ 15,500 |  |
Proceeds from exercise of stock options |  |  |  |  |  |  |  |  |  |  |  |  | 7,047 | 11,241 | $ 439 |
Exercise of option, tax benefit |  |  |  |  |  |  |  |  |  |  |  |  | 1,900 | 1,700 | 400 |
Stock-based compensation expense (benefit) |  |  |  |  |  |  |  |  |  |  |  |  | $ 8,094 | $ (2,895) | 14,119 |
Stock issued under employee stock purchase plan (in shares) | 73,627 | 149,865 |  |  |  |  |  |  |  |  |  |  | 223,492 |  |  |
Warrants outstanding (in shares) | 9,432,064 |  |  |  |  |  |  |  |  |  |  |  | 9,432,064 | 10,459,141 |  |
Number of shares of common stock to be issued for upon exercise of warrants (in shares) | 5,240,035 |  |  |  |  |  |  |  |  |  |  |  | 5,240,035 | 5,810,634 |  |
Warrant, exercise price (in usd per share) | $ 24.39 |  |  |  |  |  |  |  |  |  |  |  | $ 24.39 | $ 24.39 |  |
Number of warrants exercised during period (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 1,027,777 | 0 |  |
Proceeds from exercise of stock warrants |  |  |  |  |  |  |  |  |  |  |  |  | $ 13,920 | $ 0 | 0 |
Number of shares issued (in shares) |  |  |  |  |  |  | 68,857 |  |  |  |  |  |  |  |  |
Price per share (in usd per share) |  |  |  |  |  |  | $ 10.17 |  |  |  |  |  |  |  |  |
Total value raised, net of expenses |  |  |  |  |  |  | $ 400 |  |  |  |  |  |  |  |  |
Reissued treasury stock |  |  |  |  |  |  | $ (800) |  |  |  |  |  |  |  |  |
Purchase of treasury stock (in shares) |  |  |  |  |  |  |  | 833,333 | 1,049,956 |  |  | 785,250 |  |  |  |
Purchase of treasury stock |  |  |  |  |  |  |  | $ 9,200 | $ 12,600 |  |  | $ 8,800 |  | $ 30,626 | 437,962 |
Stock Options |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting period |  |  |  |  |  |  |  |  |  |  |  |  | 3 years |  |  |
Award expiration period |  |  |  |  |  |  |  |  |  |  |  |  | 10 years |  |  |
Number of shares affected (in shares) |  |  |  |  | 2,377,886 |  |  |  |  |  |  |  |  |  |  |
Plan modification, original exercise price (dollars per share) |  |  |  |  | $ 16.20 |  |  |  |  |  |  |  |  |  |  |
Plan modification, repriced exercise price (dollars per share) |  |  |  |  | $ 13.82 |  |  |  |  |  |  |  |  |  |  |
Nonvested award, cost not yet recognized, period for recognition |  |  |  |  |  |  |  |  |  |  |  |  | 1 year 7 months 6 days | 2 years 6 months |  |
Plan modification, incremental cost |  |  |  |  | $ 1,500 |  |  |  |  |  |  |  |  |  |  |
Stock-based compensation expense (benefit) |  |  |  |  |  |  |  |  |  |  |  |  | $ 6,400 | $ (2,900) | $ 14,100 |
Stock Options | Minimum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting period |  |  |  |  |  |  |  |  |  |  |  |  | 3 years |  |  |
Stock Options | Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting period |  |  |  |  |  |  |  |  |  |  |  |  | 4 years |  |  |
Employee Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock available for purchase under ESPP (in shares) | 2,000,000 |  |  |  |  |  |  |  |  |  |  |  | 2,000,000 |  |  |
Stock-based compensation expense (benefit) |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,700 |  |  |
Purchase price, after discount |  |  |  |  |  |  |  |  |  |  |  |  | 85.00% |  |  |
2020 Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock, reserved for future issuance (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,000,000 |  |
Number of shares available for grant (in shares) |  |  | 3,981,490 |  |  |  |  |  |  |  |  |  |  |  |  |
Number of additional shares authorized (in shares) |  |  | 2,981,490 |  |  |  |  |  |  |  |  |  |  |  |  |
Annual increase in number of shares |  |  | 5.00% |  |  |  |  |  |  |  |  |  |  |  |  |
2016 Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock available for purchase under ESPP (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 6,166,667

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