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Stock-Based Compensation and Stockholders' Equity - Narrative (Details) - USD ($) |  |  |  |  |  |  |  |  |  |  |  | 12 Months Ended |  |  |  |  |  |
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Dec. 31, 2024 | Nov. 12, 2024 | Oct. 31, 2024 | Oct. 29, 2024 | Jun. 30, 2024 | Jun. 20, 2024 | Dec. 31, 2023 | Jun. 30, 2023 | Dec. 31, 2022 | Jun. 30, 2022 | May 18, 2021 | Dec. 31, 2024 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Apr. 30, 2024 | Jan. 01, 2024 | Aug. 15, 2023 | Jan. 01, 2023 | Jan. 01, 2022 | Dec. 31, 2016
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares entitled per RSU (in shares) |  |  |  |  |  |  |  |  |  |  |  | 1 |  |  |  |  |  |  |  |  |  |
Nonvested award, option, cost not yet recognized, amount |  |  |  |  |  |  | $ 500,000 |  |  |  |  |  | $ 500,000 |  |  |  |  |  |  |  |  |
Proceeds from exercise of stock warrants |  |  |  |  |  |  |  |  |  |  |  | $ 8,900,000 | 3,100,000 | $ 2,800,000 |  |  |  |  |  |  |  |
Exercise of option, tax benefit |  |  |  |  |  |  |  |  |  |  |  | 3,800,000 | 1,700,000 | 700,000 |  |  |  |  |  |  |  |
Share repurchase program, authorized, amount |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 40,000,000.0 |  |  |  |  |
Purchase of treasury stock (in shares) |  |  |  |  |  | 26,495 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Treasury stock, value, acquired, cost method |  |  |  |  |  | $ 500,000 |  |  |  |  |  | 499,000 |  |  |  |  |  |  |  |  |  |
Share repurchase program, remaining authorized, amount | $ 39,500,000 |  |  |  |  |  |  |  |  |  |  | 39,500,000 |  |  |  |  |  |  |  |  |  |
Proceeds from common stock offering, net of offering expenses |  |  |  |  |  |  |  |  |  |  |  | 87,402,000 | $ 0 | $ 0 |  |  |  |  |  |  |  |
Warrants outstanding (in shares) |  |  |  |  |  |  |  |  | 9,427,343 |  |  |  |  | 9,427,343 |  |  |  |  |  |  |  |
Number of shares of common stock to be issued for upon exercise of warrants (in shares) |  |  |  |  |  |  |  |  | 5,237,413 |  |  |  |  | 5,237,413 |  |  |  |  |  |  |  |
Warrant, exercise price (in USD per share) |  |  |  |  |  |  |  |  | $ 24.39 |  |  |  |  | $ 24.39 |  |  |  |  |  |  |  |
Number of warrants exercised during period (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 1,173,348 |  |  |  |  |  |  |  |  |
Proceeds from exercise of stock warrants |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 15,898,000 | $ 64,000 |  |  |  |  |  |  |  |
Expired unexercised warrants (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 8,253,997 |  |  |
Revolving Credit Facility | New ABL Facility | Line of Credit |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from lines of credit |  |  | $ 5,500,000 | $ 5,500,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Underwritten Public Offering |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Payments of stock issuance costs |  | $ 900,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from common stock offering, net of offering expenses |  | $ 87,400,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common Stock | Underwritten Public Offering |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares issued (in shares) |  | 857,250 | 5,715,000 | 5,715,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Sale of stock, consideration |  |  | $ 76,800,000 | $ 76,800,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Sale of stock, consideration received per transaction |  | $ 11,500,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common Stock | Over-Allotment Option |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares issued (in shares) |  |  |  | 857,250 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Minimum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Requisite service period, options (in years) |  |  |  |  |  |  |  |  |  |  |  | 3 years |  |  |  |  |  |  |  |  |  |
Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Requisite service period, options (in years) |  |  |  |  |  |  |  |  |  |  |  | 4 years |  |  |  |  |  |  |  |  |  |
RSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Equity instruments other than options, vested in period, fair value |  |  |  |  |  |  |  |  |  |  |  | $ 10,100,000 | $ 5,300,000 | $ 100,000 |  |  |  |  |  |  |  |
Share-based payment arrangement, period for recognition | $ 12,500,000 |  |  |  |  |  |  |  |  |  |  | $ 12,500,000 |  |  |  |  |  |  |  |  |  |
Nonvested award, cost not yet recognized, period for recognition (in years) |  |  |  |  |  |  |  |  |  |  |  | 1 year 5 months 26 days |  |  |  |  |  |  |  |  |  |
Shares issued in period (in shares) |  |  |  |  |  |  |  |  |  |  |  | 455,309 |  |  |  |  |  |  |  |  |  |
Equity instruments other than options, nonvested (in shares) | 1,187,426 |  |  |  |  |  | 992,464 |  | 517,135 |  |  | 1,187,426 | 992,464 | 517,135 | 0 |  |  |  |  |  |  |
Weighted average fair value (in dollars per share) | $ 19.42 |  |  |  |  |  | $ 21.52 |  | $ 25.93 |  |  | $ 19.42 | $ 21.52 | $ 25.93 | $ 0 |  |  |  |  |  |  |
RSUs | Minimum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Requisite service period, options (in years) |  |  |  |  |  |  |  |  |  |  |  | 1 year |  |  |  |  |  |  |  |  |  |
RSUs | Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Requisite service period, options (in years) |  |  |  |  |  |  |  |  |  |  |  | 3 years |  |  |  |  |  |  |  |  |  |
Outstanding PSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Equity instruments other than options, vested in period, fair value |  |  |  |  |  |  |  |  |  |  |  | $ 3,200,000 | $ 0 | $ 0 |  |  |  |  |  |  |  |
Requisite service period, options (in years) |  |  |  |  |  |  |  |  |  |  |  | 3 years |  |  |  |  |  |  |  |  |  |
Share-based payment arrangement, period for recognition | $ 10,200,000 |  |  |  |  |  |  |  |  |  |  | $ 10,200,000 |  |  |  |  |  |  |  |  |  |
Nonvested award, cost not yet recognized, period for recognition (in years) |  |  |  |  |  |  |  |  |  |  |  | 1 year 1 month 20 days |  |  |  |  |  |  |  |  |  |
Equity instruments other than options, nonvested (in shares) | 1,350,358 |  |  |  |  |  | 1,130,779 |  | 473,371 |  |  | 1,350,358 | 1,130,779 | 473,371 | 0 |  |  |  |  |  |  |
Weighted average fair value (in dollars per share) | $ 22.01 |  |  |  |  |  | $ 23.68 |  | $ 26.76 |  |  | $ 22.01 | $ 23.68 | $ 26.76 | $ 0 |  |  |  |  |  |  |
Number of shares entitled for common stock (in shares) |  |  |  |  |  |  |  |  |  |  |  | 1.5 |  |  |  |  |  |  |  |  |  |
Award vesting period (in years) |  |  |  |  |  |  |  |  |  |  |  | 3 years |  |  |  |  |  |  |  |  |  |
Outstanding PSUs | Performance Conditions |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Equity instruments other than options, nonvested (in shares) | 540,149 |  |  |  |  |  |  |  |  |  |  | 540,149 |  |  |  |  |  |  |  |  |  |
Outstanding PSUs | Market Conditions |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Equity instruments other than options, nonvested (in shares) | 810,209 |  |  |  |  |  |  |  |  |  |  | 810,209 |  |  |  |  |  |  |  |  |  |
Stock Options |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Nonvested award, cost not yet recognized, period for recognition (in years) |  |  |  |  |  |  |  |  |  |  |  |  | 1 month 6 days |  |  |  |  |  |  |  |  |
Shares issued in period (in shares) |  |  |  |  |  |  |  |  |  |  |  | 0 | 0 |  |  |  |  |  |  |  |  |
Award expiration period (in years) |  |  |  |  |  |  |  |  |  |  |  | 10 years |  |  |  |  |  |  |  |  |  |
Stock Options | Minimum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting period (in years) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 3 years |  |  |  |  |  |
Stock Options | Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Award vesting period (in years) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 4 years |  |  |  |  |  |
ESPP |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
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 |  |  |  |  |  |  |  |  |  |
Shares issued in period (in shares) | 114,055 |  |  |  | 149,983 |  | 114,147 | 189,837 | 114,945 | 157,250 |  | 264,038 | 303,984 | 272,195 |  |  |  |  |  |  |  |
Purchase price, after discount |  |  |  |  |  |  |  |  |  |  |  | 85.00% |  |  |  |  |  |  |  |  |  |
2016 Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock available for purchase under ESPP (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 6,166,667
2020 Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock available for purchase under ESPP (in shares) | 5,627,647 |  |  |  |  |  |  |  |  |  |  | 5,627,647 |  |  |  |  |  |  |  |  |  |
Annual increase in number of shares (as percent) |  |  |  |  |  |  |  |  |  |  | 5.00% |  | 5.00% | 5.00% | 5.00% |  |  |  |  |  |  |
Number of shares available for grant (in shares) |  |  |  |  |  |  | 35,188,599 |  | 34,478,892 |  |  |  | 35,188,599 | 34,478,892 | 34,071,684 |  |  | 1,759,429 |  | 1,723,944 | 1,703,584 |

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