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Stockholders' Equity - Narrative (Details) |  | 1 Months Ended | 3 Months Ended | 7 Months Ended | 12 Months Ended |  |  |  |  |  |  |  |  |
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Nov. 06, 2018 $ / shares shares | Jan. 19, 2022 USD ($) $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2020 USD ($) | Dec. 31, 2021 USD ($) $ / shares shares | Dec. 16, 2020 USD ($) $ / shares shares | Oct. 22, 2021 shares | Sep. 30, 2021 $ / shares shares | Jun. 15, 2021 USD ($) | Jan. 31, 2020 shares | Dec. 13, 2019 USD ($) | Feb. 28, 2019 | Oct. 23, 2018 $ / right $ / shares shares | Mar. 07, 2018 shares | Mar. 10, 2017 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Unrecognized compensation expense | $ |  |  | $ 31,200,000 |  | $ 31,200,000 |  |  |  |  |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized (in years) |  |  | 2 years 7 months 6 days |  |  |  |  |  |  |  |  |  |  |  |
Purchase of common stock (in shares) |  |  | 807,342 |  | 807,342 |  |  | 816,717 |  |  |  |  |  |  |
Discount rate from market price, purchase date |  |  | 0.15 |  |  |  |  |  |  |  |  |  |  |  |
Recognized compensation expense | $ |  |  | $ 3,132,000 | $ 2,747,000 |  |  |  |  |  |  |  |  |  |  |
Total intrinsic value of options exercised | $ |  |  | $ 100,000 | 1,500,000 |  |  |  |  |  |  |  |  |  |  |
Options granted (in shares) |  |  | 0 |  |  |  |  |  |  |  |  |  |  |  |
Amount authorized and approved under share repurchase program | $ |  |  |  |  |  |  |  |  | $ 15,000,000 |  | $ 10,000,000 |  |  |  |
Amount of shares repurchased | $ |  |  | $ 10,100,000 |  | $ 10,300,000 | $ 1,000,000 |  |  |  |  |  |  |  |  |
Number of shares repurchased (in shares) |  |  | 598,636 |  |  | 137,000 |  |  |  |  |  |  |  |  |
Average price of shares repurchased (in dollars per share) | $ / shares |  |  | $ 16.95 |  |  | $ 7.33 |  |  |  |  |  |  |  |  |
Preferred stock, par value (in dollars per share) | $ / shares |  |  | $ 0.001 |  | $ 0.001 |  |  | $ 0.001 |  |  |  |  |  |  |
Percentage of common stock outstanding for acquiring person under right agreement |  |  |  |  |  |  |  |  |  |  |  | 4.90% |  |  |
Subsequent Event |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Amount of shares repurchased | $ |  | $ 4,700,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares repurchased (in shares) |  | 287,568 |  |  |  |  |  |  |  |  |  |  |  |  |
Average price of shares repurchased (in dollars per share) | $ / shares |  | $ 16.29 |  |  |  |  |  |  |  |  |  |  |  |  |
Series B Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of preferred share purchase right for each share of common stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 1 |  |
Preferred stock, share conversion ratio |  |  |  |  |  |  |  |  |  |  |  |  | 0.001000 |  |
Preferred stock, par value (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  |  |  |  |  | $ 0.001 |  |
Preferred stock, purchase price per right (in dollars per right) | $ / right |  |  |  |  |  |  |  |  |  |  |  |  | 35.00 |  |
Preferred stock, redemption price per share (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  |  |  |  |  | $ 0.0001 |  |
Number of rights redeemed or exchanged (in shares) |  |  |  |  |  |  | 0 |  |  |  |  |  |  |  |
RSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized (in years) |  |  | 2 years 8 months 12 days |  |  |  |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  |  | 2,288,664 |  | 2,288,664 |  |  | 2,411,267 |  |  |  |  |  |  |
Recognized compensation expense | $ |  |  | $ 2,300,000 | 1,900,000 |  |  |  |  |  |  |  |  |  |  |
Unrecognized compensation expense related to nonvested awards | $ |  |  | 23,400,000 |  | $ 23,400,000 |  |  |  |  |  |  |  |  |  |
Performance RSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Unrecognized compensation expense | $ |  |  | $ 7,100,000 |  | $ 7,100,000 |  |  |  |  |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized (in years) |  |  | 2 years 7 months 6 days |  |  |  |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  |  | 843,270 |  | 843,270 |  |  | 528,724 |  |  |  |  |  |  |
Recognized compensation expense | $ |  |  | $ 500,000 | 300,000 |  |  |  |  |  |  |  |  |  |  |
Stock options |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized (in years) |  |  | 1 year 7 months 6 days |  |  |  |  |  |  |  |  |  |  |  |
Recognized compensation expense | $ |  |  | $ 200,000 | 200,000 |  |  |  |  |  |  |  |  |  |  |
Unrecognized compensation expense related to outstanding stock options | $ |  |  | 600,000 |  | $ 600,000 |  |  |  |  |  |  |  |  |  |
Performance options | Chief Executive Officer |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of common stock reserved for future grants (in shares) | 800,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Recognized compensation expense | $ |  |  | $ 100,000 | 200,000 |  |  |  |  |  |  |  |  |  |  |
Exercise price per share (in dollars per share) | $ / shares | $ 9.50 |  |  |  |  |  |  |  |  |  |  |  |  |  |
2020 Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  |  |  |  |  |  |  |  | 4,500,000 |  |  |  |  |
Number of common stock reserved for future grants (in shares) |  |  | 1,621,243 |  | 1,621,243 |  |  |  |  |  |  |  |  |  |
2020 Plan | RSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  |  | 1,314,982 |  | 1,314,982 |  |  |  |  |  |  |  |  |  |
2020 Plan | Performance RSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  |  | 843,270 |  | 843,270 |  |  |  |  |  |  |  |  |  |
Prior Plans |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  |  |  |  |  |  |  |  | 107,903 |  |  |  |  |
Purchase of common stock (in shares) |  |  | 497,553 |  | 497,553 |  |  |  |  |  |  |  |  |  |
Prior Plans | RSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  |  | 586,099 |  | 586,099 |  |  |  |  |  |  |  |  |  |
ESPP |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  | 520,865 |  | 520,865 |  |  |  |  |  |  |  |  | 1,000,000 |
Shares issued to participants pursuant to employee stock purchase plan (in shares) |  |  | 479,135 |  |  |  |  |  |  |  |  |  |  |  |
Discount rate from market price, offering date |  |  | 15.00% |  |  |  |  |  |  |  |  |  |  |  |
Recognized compensation expense | $ |  |  | $ 100,000 | $ 100,000 |  |  |  |  |  |  |  |  |  |  |
Director Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,500,000
Number of common stock reserved for future grants (in shares) |  |  | 214,888 |  | 214,888 |  |  |  |  |  |  |  |  |  |
Director Plan | RSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Purchase of common stock (in shares) |  |  | 286,084 |  | 286,084 |  |  |  |  |  |  |  |  |  |

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