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Stockholders' Equity - Stock Options and Restricted Stock (Details)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
USD ($)
item
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Stock-based compensation, general disclosures.        
Stock-based compensation expense | $ $ 7,547 $ 9,600 $ 10,173  
Dividends paid to date | $ 0      
Aggregate Intrinsic Value        
Restricted stock unit awards, Average Intrinsic Value | $     4,932 $ 9,503
Employee Stock Option        
Stock-based compensation, general disclosures.        
Stock-based compensation expense | $ 900 2,500 4,300  
Total unrecognized pre-tax compensation expense related to nonvested stock option awards | $ $ 200      
Weighted-average period over which unrecognized compensation cost is expected to be recognized 10 months 24 days      
Total grant date fair value of options vested during the period | $ $ 1,900 $ 3,300 $ 4,300  
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%  
Options Outstanding        
Outstanding at beginning of period | shares 615,307 915,224 1,039,709  
Granted | shares   47,280 188,748  
Exercised | shares (4,625) (90,878) (175,516)  
Forfeited | shares (25,045) (92,981) (92,773)  
Cancelled/Expired | shares (155,677) (163,338) (44,944)  
Outstanding at end of period | shares 429,960 615,307 915,224 1,039,709
Weighted Average Exercise Price Per Share        
Outstanding at beginning of period $ 43.25 $ 39.33 $ 36.43  
Granted   6.17 49.33  
Exercised 2.97 1.68 22.65  
Forfeited 47.54 36.28 49.77  
Cancelled/Expired 50.72 37.65 57.78  
Outstanding at end of period $ 40.74 $ 43.25 $ 39.33 $ 36.43
Other information        
Options exercisable number of shares exercisable | shares 386,457 435,363 517,316  
Options exercisable, weighted-average exercise price $ 41.53 $ 43.83 $ 32.60  
Weighted average remaining contractual life (in years) 3 years 9 months 18 days 4 years 8 months 12 days 5 years 5 years 7 months 6 days
Options exercisable, weighted-average remaining contractual life 3 years 8 months 12 days      
Aggregate Intrinsic Value, Options outstanding | $ $ 223 $ 164   $ 13,381
Aggregate Intrinsic Value, Exercised | $ 98 $ 916 $ 4,901  
Aggregate Intrinsic Value, Options exercisable | $ $ 125   $ 2,068  
Number of:        
Non vested options beginning of the year | shares 179,944 397,908    
Non-vested options end of the year | shares 43,503 179,944 397,908  
Vested options end of the year | shares 386,457 435,363    
Weighted-average grant date fair value of:        
Non-vested options beginning of the year $ 16.24 $ 18.02    
Non-vested options end of the year 13.57 16.24 $ 18.02  
Vested options end of the year 16.51 17.53    
Forfeited options during the year $ 18.36 $ 14.73    
Employee Stock Option | 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 volatility (as a percent)   59.20% 45.00%  
Risk-free interest rate (as a percent)   4.30% 0.60%  
Fair value on the date of grant (in dollars per share)   $ 8.11 $ 13.04  
Employee Stock Option | 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%  
Risk-free interest rate (as a percent)     1.10%  
Fair value on the date of grant (in dollars per share)     $ 22.90  
2023 PSUs        
Stock-based compensation, general disclosures.        
Stock-based compensation expense | $ $ 500      
2022 PSUs        
Stock-based compensation, general disclosures.        
Stock-based compensation expense | $ 400 $ 600    
2016 Plan | Time-Based Restricted Stock Units        
Stock-based compensation, general disclosures.        
Stock-based compensation expense | $ 5,100 $ 5,800 $ 4,900  
Total unrecognized pre-tax compensation expense related to nonvested stock option awards | $ $ 6,300      
Weighted-average period over which unrecognized compensation cost is expected to be recognized 1 year 8 months 12 days      
Units Outstanding        
Restricted stock unit awards outstanding at the beginning of the period (in shares) | shares 590,542 259,147 211,469  
Granted (in shares) | shares 398,698 539,525 189,762  
Vested (in shares) | shares (270,651) (123,528) (106,521)  
Cancelled (in shares) | shares (129,447) (84,602) (35,563)  
Restricted stock unit awards outstanding at the end of the period (in shares) | shares 589,142 590,542 259,147 211,469
Weighted Average Grant Date Fair Value Per Unit        
Restricted stock unit awards outstanding at the beginning of the period (in dollars per share) $ 19.42 $ 42.32 $ 48.29  
Granted (in dollars per share) 15.52 15.03 40.31  
Vested (in dollars per share) 20.18 43.20 47.43  
Cancelled (in dollars per share) 19.79 26.91 51.76  
Restricted stock unit awards outstanding at the end of the period (in dollars per share) $ 16.35 $ 19.42 $ 42.32 $ 48.29
Aggregate Intrinsic Value        
Restricted stock unit awards, Average Intrinsic Value | $ $ 8,425 $ 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 | $ $ 900 $ 500 $ 200  
Total unrecognized pre-tax compensation expense related to awards | $ $ 1,300      
Weighted-average period over which unrecognized compensation cost is expected to be recognized 1 year 10 months 24 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 54,317 79,303  
Granted (in shares) | shares 123,575 131,710 39,419  
Vested (in shares) | shares (13,842) (4,407) (34,159)  
Cancelled (in shares) | shares (67,119) (26,002) (30,246)  
Restricted stock unit awards outstanding at the end of the period (in shares) | shares 198,232 155,618 54,317 79,303
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) $ 25.05 $ 50.22 $ 47.83  
Granted (in dollars per share) 15.28 18.54 51.82  
Vested (in dollars per share) 42.70 12.31 33.98  
Cancelled (in dollars per share) 21.50 42.53 64.39  
Restricted stock unit awards outstanding at the end of the period (in dollars per share) $ 18.93 $ 25.05 $ 50.22 $ 47.83
Aggregate Intrinsic Value        
Restricted stock unit awards, Average Intrinsic Value | $ $ 2,785 $ 1,786   $ 3,564
Restricted stock unit awards deferred and unissued, Average Intrinsic Value | $     $ 1,034  
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 one | 2023 PSUs        
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 66.67%      
2016 Plan | Tranche two | 2023 PSUs        
Stock-based compensation, general disclosures.        
Award vesting percentage 33.33%