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Stockholders' Equity - Narrative (Details) - USD ($)
 3 Months Ended
Nov. 06, 2018
Mar. 10, 2017
Dec. 31, 2022
Dec. 31, 2021
Sep. 30, 2022
Jun. 15, 2021
Jan. 31, 2020
Mar. 07, 2018
Mar. 09, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Unrecognized compensation expense related to outstanding stock options and RSUs     $ 32,300,000            
Weighted average period for unrecognized compensation expense expected to be recognized (in years)     2 years 8 months 12 days            
Recognized compensation expense     $ 2,442,000 $ 3,132,000          
Purchase of common stock (in shares)     667,669   781,092        
Total intrinsic value of options exercised     $ 200,000 $ 100,000          
Options granted (in shares)     0 0          
Amount authorized and approved under share repurchase program           $ 15,000,000      
Amount of shares repurchased     $ 10,100,000            
Number of shares repurchased (in shares)     598,636            
Average price of shares repurchased (in dollars per share)     $ 16.95            
Minimum                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Discount rate from market price, purchase date     15.00%            
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 10 months 24 days            
Awards outstanding (in shares)     2,424,151   2,441,677        
Recognized compensation expense     $ 1,600,000 $ 2,300,000          
Unrecognized compensation expense related to nonvested awards     $ 23,700,000            
Performance 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 3 months 18 days            
Awards outstanding (in shares)     1,173,121   919,456        
Recognized compensation expense     $ 700,000 500,000          
Unrecognized compensation expense related to nonvested awards     $ 8,500,000            
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)     9 months 18 days            
Recognized compensation expense     $ 100,000 200,000          
Unrecognized compensation expense of stock options     100,000            
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     $ 0 100,000          
Exercise price per share (in dollars per share) $ 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)     1,107,762            
2020 Plan | RSUs                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Awards outstanding (in shares)     1,747,352            
2020 Plan | Performance RSUs                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Awards outstanding (in shares)     980,824            
Prior Plans                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common stock reserved for issuance (in shares)             107,903    
ESPP common stock equivalents                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common stock reserved for issuance (in shares)               1,000,000  
Number of common stock reserved for future grants (in shares)     391,771            
Issuance of common stock under employee stock purchase plan (in shares)     608,229            
Recognized compensation expense     $ 100,000 $ 100,000          
ESPP common stock equivalents | Maximum                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Discount rate from market price, offering date     15.00%            
Director Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common stock reserved for issuance (in shares)   1,500,000             1,000,000
Number of common stock reserved for future grants (in shares)     0            
Increase in capital shares reserved for future issuance (in shares)   500,000              
Director Plan | RSUs                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Purchase of common stock (in shares)     259,513