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Stockholders' Equity - Stock Options and Restricted Stock (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Stock-based compensation, general disclosures.
Stock-based compensation expense	$ 9,600	$ 10,173	$ 10,689
Dividends paid to date	0
Estimated fair values and assumptions for stock options granted
Expected term			4 years 6 months
Expected volatility (as a percent)			45.39%
Risk-free interest rate (as a percent)			0.40%
Expected dividend yield (as a percent)			0.00%
Aggregate Intrinsic Value
Restricted stock unit awards, Average Intrinsic Value			$ 9,503	$ 11,591
Minimum
Estimated fair values and assumptions for stock options granted
Fair value per share of options on the date of grant (in dollars per share)			$ 13.60
Other information
Fair value per share of options on the date of grant (in dollars per share)			13.60
Maximum
Estimated fair values and assumptions for stock options granted
Fair value per share of options on the date of grant (in dollars per share)			14.70
Other information
Fair value per share of options on the date of grant (in dollars per share)			$ 14.70
Common stock options
Stock-based compensation, general disclosures.
Stock-based compensation expense	2,500	4,300	$ 4,000
Total unrecognized pre-tax compensation expense related to nonvested stock option awards	$ 1,600
Weighted-average period over which unrecognized compensation cost is expected to be recognized	1 year 2 months 12 days
Total grant date fair value of options vested during the period	$ 3,300	$ 4,300	$ 3,000
Estimated fair values and assumptions for stock options granted
Expected term	4 years 6 months	4 years 6 months
Expected dividend yield (as a percent)	0.00%	0.00%	0.00%
Options Outstanding
Outstanding at beginning of period	915,224	1,039,709	866,955
Granted	47,280	188,748	378,695
Exercised	(90,878)	(175,516)	(147,741)
Forfeited	(92,981)	(92,773)	(54,824)
Cancelled/Expired	(163,338)	(44,944)	(3,376)
Outstanding at end of period	615,307	915,224	1,039,709	866,955
Weighted Average Exercise Price Per Share
Outstanding at beginning of period	$ 39.33	$ 36.43	$ 28.76
Granted	6.17	49.33	44.84
Exercised	1.68	22.65	7.24
Forfeited	36.28	49.77	50.25
Cancelled/Expired	37.65	57.78	63.61
Outstanding at end of period	$ 43.25	$ 39.33	$ 36.43	$ 28.76
Other information
Options exercisable number of shares exercisable	435,363	517,316	489,866
Options exercisable, weighted-average exercise price	$ 43.83	$ 32.60	$ 25.39
Weighted average remaining contractual life (in years)	4 years 8 months 12 days	5 years	5 years 7 months 6 days	6 years 3 months 18 days
Options exercisable, weighted-average remaining contractual life	4 years 6 months
Aggregate Intrinsic Value, Options outstanding	$ 164	$ 2,068		$ 33,957
Aggregate Intrinsic Value, Exercised	916	$ 4,901	$ 6,540
Aggregate Intrinsic Value, Options exercisable	$ 84		$ 13,381
Number of:
Non vested options beginning of the year	397,908	549,843
Non-vested options end of the year	179,944	397,908	549,843
Vested options end of the year	435,363	517,316
Weighted-average grant date fair value of:
Non-vested options beginning of the year	$ 18.02	$ 18.03
Non-vested options end of the year	16.24	18.02	$ 18.03
Vested options end of the year	17.53	13.27
Forfeited options during the year	$ 14.73	$ 19.26
Common stock options | Minimum
Stock-based compensation, general disclosures.
Vesting period (in years)	3 years
Term (in years)	7 years
Estimated fair values and assumptions for stock options granted
Expected term			4 years 6 months
Expected volatility (as a percent)	59.20%	45.00%	44.10%
Risk-free interest rate (as a percent)	4.30%	0.60%	0.20%
Fair value per share of options on the date of grant (in dollars per share)	$ 8.11	$ 13.04	$ 13.45
Other information
Fair value per share of options on the date of grant (in dollars per share)	$ 8.11	$ 13.04	$ 13.45
Common stock options | Maximum
Stock-based compensation, general disclosures.
Vesting period (in years)	4 years
Term (in years)	10 years
Estimated fair values and assumptions for stock options granted
Expected volatility (as a percent)		52.30%	46.40%
Risk-free interest rate (as a percent)		1.10%	0.90%
Fair value per share of options on the date of grant (in dollars per share)		$ 22.90	$ 18.64
Other information
Fair value per share of options on the date of grant (in dollars per share)		$ 22.90	$ 18.64
Common stock options | Chief Executive Officer
Stock-based compensation, general disclosures.
Share-based payment award, term	7 years
Vesting period (in years)	3 years
Number of consecutive trading days	20 days
Common stock options | Chief Executive Officer | Minimum
Stock-based compensation, general disclosures.
Stock price	$ 40.15
2018 and 2021 PSUs
Stock-based compensation, general disclosures.
Stock-based compensation expense	$ 600	$ 700
2016 Plan | Time-Based Restricted Stock Units
Stock-based compensation, general disclosures.
Stock-based compensation expense	5,800	$ 4,900	$ 5,200
Total unrecognized pre-tax compensation expense related to nonvested stock option awards	$ 7,800
Weighted-average period over which unrecognized compensation cost is expected to be recognized	1 year 10 months 24 days
Units Outstanding
Restricted stock unit awards outstanding at the beginning of the period (in shares)	259,147	211,469	171,687
Granted (in shares)	539,525	189,762	175,582
Modification (in shares)			2,288
Vested (in shares)	(123,528)	(106,521)	(118,014)
Cancelled (in shares)	(84,602)	(35,563)	(20,074)
Restricted stock unit awards outstanding at the end of the period (in shares)	590,542	259,147	211,469	171,687
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	$ 48.29	$ 43.74
Granted (in dollars per share)	15.03	40.31	46.42
Modification (in dollars per share)			21.85
Vested (in dollars per share)	43.20	47.43	37.57
Cancelled (in dollars per share)	26.91	51.76	53.03
Restricted stock unit awards outstanding at the end of the period (in dollars per share)	$ 19.42	$ 42.32	$ 48.29	$ 43.74
Aggregate Intrinsic Value
Restricted stock unit awards, Average Intrinsic Value	$ 6,779	$ 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.
Estimated payout		500
Stock-based compensation expense	$ 500	$ 200	$ 500
Total unrecognized pre-tax compensation expense related to awards	$ 1,400
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)	54,317	79,303	91,151
Granted (in shares)	131,710	39,419	31,731
Vested (in shares)	(4,407)	(34,159)	(26,204)
Cancelled (in shares)	(26,002)	(30,246)	(17,375)
Restricted stock unit awards outstanding at the end of the period (in shares)	155,618	54,317	79,303	91,151
Payout percentage	100.00%	100.00%	100.00%
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	$ 47.83	$ 44.63
Granted (in dollars per share)	18.54	51.82	50.41
Vested (in dollars per share)	12.31	33.98	33.58
Cancelled (in dollars per share)	42.53	64.39	52.87
Restricted stock unit awards outstanding at the end of the period (in dollars per share)	$ 25.05	$ 50.22	$ 47.83	$ 44.63
Aggregate Intrinsic Value
Restricted stock unit awards, Average Intrinsic Value	$ 1,786	$ 1,034		$ 6,154
Restricted stock unit awards deferred and unissued, Average Intrinsic Value			$ 3,564
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
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%

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