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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options of the plan that expired.

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Intrinsic value of outstanding award under share-based payment arrangement. Excludes share and unit options.

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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Stockholders' Equity - Stock Options and Restricted Stock (Details) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended		12 Months Ended
	Jun. 30, 2023 USD ($) $ / shares shares	Jun. 30, 2022 USD ($) $ / shares shares	Jun. 30, 2023 USD ($) item $ / shares shares	Jun. 30, 2022 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Stock-based compensation, general disclosures.
Stock-based compensation expense \| $	$ 1,808	$ 2,892	$ 3,831	$ 5,121
Employee Stock Option [Member]
Stock-based compensation, general disclosures.
Stock-based compensation expense \| $	200	$ 600	500	$ 1,400
Total unrecognized pre-tax compensation expense related to nonvested stock option awards \| $	$ 700		$ 700
Weighted-average period over which unrecognized compensation cost is expected to be recognized			1 year
Options Outstanding
Outstanding at beginning of period \| shares			615,307
Exercised \| shares			(1,773)
Forfeited \| shares			(20,662)
Cancelled/Expired \| shares			(66,825)
Outstanding at end of period \| shares	526,047		526,047		615,307
Weighted Average Exercise Price Per Share
Outstanding at beginning of period \| $ / shares			$ 43.25
Exercised \| $ / shares			6.58
Forfeited \| $ / shares			47.08
Cancelled/Expired \| $ / shares			46.81
Outstanding at end of period \| $ / shares	$ 42.78		$ 42.78		$ 43.25
Other information
Options exercisable number of shares exercisable \| shares	435,559	482,154	435,559	482,154
Options exercisable, weighted-average exercise price \| $ / shares	$ 44.67	$ 41.52	$ 44.67	$ 41.52
Weighted average remaining contractual life (in years)			4 years 2 months 12 days		4 years 8 months 12 days
Options exercisable, weighted-average remaining contractual life			4 years
Aggregate Intrinsic Value, Options outstanding \| $	$ 716		$ 716		$ 164
Aggregate Intrinsic Value, Exercised \| $			29
Aggregate Intrinsic Value, Options exercisable \| $	319		$ 319
Employee Stock Option [Member] \| Minimum
Stock-based compensation, general disclosures.
Vesting period (in years)			3 years
Term (in years)			7 years
Employee Stock Option [Member] \| 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 \| $	1,300	$ 1,600	$ 2,600	$ 3,000
Total unrecognized pre-tax compensation expense related to awards \| $	$ 9,200		$ 9,200
Weighted-average period over which unrecognized compensation cost is expected to be recognized			1 year 9 months 18 days
Units Outstanding
Restricted stock unit awards outstanding at the beginning of the period (in shares) \| shares			590,542
Granted (in shares) \| shares			355,672
Vested (in shares) \| shares			(203,615)
Cancelled (in shares) \| shares			(68,421)
Restricted stock unit awards outstanding at the end of the period (in shares) \| shares	674,178		674,178		590,542
Weighted Average Grant Date Fair Value Per Unit
Restricted stock unit awards outstanding at the beginning of the period (in dollars per share) \| $ / shares			$ 19.42
Granted (in dollars per share) \| $ / shares			15.67
Vested (in dollars per share) \| $ / shares			20.84
Cancelled (in dollars per share) \| $ / shares			21.77
Restricted stock unit awards outstanding at the end of the period (in dollars per share) \| $ / shares	$ 16.77		$ 16.77		$ 19.42
Aggregate Intrinsic Value
Restricted stock unit awards, Average Intrinsic Value \| $	$ 16,807		$ 16,807		$ 6,779
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 \| $	100	$ 300	$ 300	$ 100
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
Number of performance awards under share-based payment arrangement \| item			3
Units Outstanding
Restricted stock unit awards outstanding at the beginning of the period (in shares) \| shares			155,618
Granted (in shares) \| shares			123,575
Vested (in shares) \| shares			(9,915)
Cancelled (in shares) \| shares			(45,197)
Restricted stock unit awards outstanding at the end of the period (in shares) \| shares	224,081		224,081		155,618
Weighted Average Grant Date Fair Value Per Unit
Restricted stock unit awards outstanding at the beginning of the period (in dollars per share) \| $ / shares			$ 25.05
Granted (in dollars per share) \| $ / shares			15.28
Vested (in dollars per share) \| $ / shares			51.89
Cancelled (in dollars per share) \| $ / shares			22.58
Restricted stock unit awards outstanding at the end of the period (in dollars per share) \| $ / shares	$ 18.98		$ 18.98		$ 25.05
Aggregate Intrinsic Value
Restricted stock unit awards, Average Intrinsic Value \| $	$ 5,586		$ 5,586		$ 1,786
2016 Plan \| Performance-based stock-settled restricted stock units \| Minimum
Stock-based compensation, general disclosures.
Performance goals revenue change and adjusted EBITDA margin			25.00%
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.
Performance goals revenue change and adjusted EBITDA margin			175.00%
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.
Award vesting percentage			33.33%
2016 Plan \| Tranche two \| Performance-based stock-settled restricted stock units
Stock-based compensation, general disclosures.
Award vesting percentage			33.33%