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Stockholders' Equity - Stock Options and Restricted Stock (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Dec. 31, 2021
Stock-based compensation, general disclosures.          
Stock-based compensation expense $ 2,560 $ 2,588 $ 7,681 $ 7,703  
Common stock options          
Stock-based compensation, general disclosures.          
Stock-based compensation expense 600 $ 1,000 2,000 $ 3,300  
Total unrecognized pre-tax compensation expense related to nonvested stock option awards $ 2,200   $ 2,200    
Weighted-average period over which unrecognized compensation cost is expected to be recognized     1 year 2 months 12 days    
Options Outstanding          
Outstanding at beginning of period     915,224    
Exercised     (90,878)    
Forfeited     (58,115)    
Cancelled/Expired     (152,448)    
Outstanding at end of period 613,783   613,783   915,224
Weighted Average Exercise Price Per Share          
Outstanding at beginning of period     $ 39.33    
Exercised     1.68    
Forfeited     46.93    
Cancelled/Expired     36.62    
Outstanding at end of period $ 44.86   $ 44.86   $ 39.33
Other information          
Options exercisable number of shares exercisable 402,979 508,184 402,979 508,184  
Options exercisable, weighted-average exercise price $ 44.18 $ 30.45 $ 44.18 $ 30.45  
Weighted average remaining contractual life (in years)     4 years 9 months 18 days   5 years
Options exercisable, weighted-average remaining contractual life     4 years 8 months 12 days    
Aggregate Intrinsic Value, Options outstanding $ 44   $ 44   $ 2,068
Aggregate Intrinsic Value, Exercised     916    
Aggregate Intrinsic Value, Options exercisable 44   $ 44    
Common stock options | Minimum          
Stock-based compensation, general disclosures.          
Vesting period (in years)     3 years    
Term (in years)     7 years    
Common stock options | Maximum          
Stock-based compensation, general disclosures.          
Vesting period (in years)     4 years    
Term (in years)     10 years    
2016 Plan | Time-Based Restricted Stock Units          
Stock-based compensation, general disclosures.          
Stock-based compensation expense 1,500 $ 1,200 $ 4,500 $ 3,700  
Total unrecognized pre-tax compensation expense related to awards $ 9,400   $ 9,400    
Weighted-average period over which unrecognized compensation cost is expected to be recognized     2 years    
Units Outstanding          
Restricted stock unit awards outstanding at the beginning of the period (in shares)     259,147    
Granted (in shares)     496,302    
Vested (in shares)     (93,444)    
Cancelled (in shares)     (54,299)    
Restricted stock unit awards outstanding at the end of the period (in shares) 607,706   607,706   259,147
Weighted Average Grant Date Fair Value Per Unit          
Restricted stock unit awards outstanding at the beginning of the period (in dollars per share)     $ 42.32    
Granted (in dollars per share)     15.64    
Vested (in dollars per share)     46.84    
Cancelled (in dollars per share)     29.98    
Restricted stock unit awards outstanding at the end of the period (in dollars per share) $ 20.94   $ 20.94   $ 42.32
Aggregate Intrinsic Value          
Restricted stock unit awards, Average Intrinsic Value $ 4,734   $ 4,734   $ 4,932
2016 Plan | Time-Based Restricted Stock Units | Minimum          
Stock-based compensation, general disclosures.          
Vesting period (in years)     1 year    
2016 Plan | Time-Based Restricted Stock Units | Maximum          
Stock-based compensation, general disclosures.          
Vesting period (in years)     3 years    
2016 Plan | Performance-based stock-settled restricted stock units          
Stock-based compensation, general disclosures.          
Stock-based compensation expense 300 $ 200 $ 500    
Total unrecognized pre-tax compensation expense related to awards $ 2,200   $ 2,200    
Weighted-average period over which unrecognized compensation cost is expected to be recognized     2 years 3 months 18 days    
Units Outstanding          
Restricted stock unit awards outstanding at the beginning of the period (in shares)     54,317    
Granted (in shares)     131,710    
Vested (in shares)     (1,853)    
Cancelled (in shares)     (20,147)    
Restricted stock unit awards outstanding at the end of the period (in shares) 164,027   164,027   54,317
Weighted Average Grant Date Fair Value Per Unit          
Restricted stock unit awards outstanding at the beginning of the period (in dollars per share)     $ 50.22    
Granted (in dollars per share)     18.54    
Vested (in dollars per share)     19.03    
Cancelled (in dollars per share)     23.18    
Restricted stock unit awards outstanding at the end of the period (in dollars per share) $ 25.11   $ 25.11   $ 50.22
Aggregate Intrinsic Value          
Restricted stock unit awards, Average Intrinsic Value $ 1,278   $ 1,278   $ 1,034
2016 Plan | Performance-based stock-settled restricted stock units | Minimum          
Units Outstanding          
Percentage to earn or vest the performance-based stock-settled restricted stock units     50.00%    
2016 Plan | Performance-based stock-settled restricted stock units | Maximum          
Stock-based compensation, general disclosures.          
Stock-based compensation expense       $ 100  
Units Outstanding          
Percentage to earn or vest the performance-based stock-settled restricted stock units     150.00%    
2016 Plan | Tranche one | Performance-based stock-settled restricted stock units          
Stock-based compensation, general disclosures.          
Compensation arrangement     33.33%    
2016 Plan | Tranche two | Performance-based stock-settled restricted stock units          
Stock-based compensation, general disclosures.          
Compensation arrangement     66.67%