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Stockholders' Equity - Stock Options and Restricted Stock (Details)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2024
USD ($)
item
$ / shares
shares
Mar. 31, 2023
USD ($)
$ / shares
shares
Dec. 31, 2023
USD ($)
$ / shares
shares
Stock-based compensation, general disclosures.      
Stock-based compensation expense | $ $ 2,039 $ 2,023  
Employee Stock Option      
Stock-based compensation, general disclosures.      
Stock-based compensation expense | $ 100 $ 300  
Total unrecognized pre-tax compensation expense related to nonvested stock option awards | $ $ 100    
Weighted-average period over which unrecognized compensation cost is expected to be recognized 1 year    
Options Outstanding      
Outstanding at beginning of period | shares 429,960    
Exercised | shares (354)    
Cancelled/Expired | shares (6,849)    
Outstanding at end of period | shares 422,757   429,960
Weighted Average Exercise Price Per Share      
Outstanding at beginning of period | $ / shares $ 40.74    
Exercised | $ / shares 1.35    
Cancelled/Expired | $ / shares 44.62    
Outstanding at end of period | $ / shares $ 40.71   $ 40.74
Other information      
Options exercisable number of shares exercisable | shares 395,952 479,622  
Options exercisable, weighted-average exercise price | $ / shares $ 41.94 $ 44.60  
Weighted average remaining contractual life (in years) 3 years 7 months 6 days   3 years 9 months 18 days
Options exercisable, weighted-average remaining contractual life 3 years 6 months    
Aggregate Intrinsic Value, Options outstanding | $ $ 289   $ 223
Aggregate Intrinsic Value, Exercised | $ 5    
Aggregate Intrinsic Value, Options exercisable | $ $ 160    
Employee Stock Option | Minimum      
Stock-based compensation, general disclosures.      
Vesting period (in years) 3 years    
Term (in years) 7 years    
Employee Stock Option | 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 | $ $ 1,400 $ 1,300  
Total unrecognized pre-tax compensation expense related to awards | $ $ 9,900    
Weighted-average period over which unrecognized compensation cost is expected to be recognized 2 years 2 months 12 days    
Units Outstanding      
Restricted stock unit awards outstanding at the beginning of the period (in shares) | shares 589,142    
Granted (in shares) | shares 367,036    
Vested (in shares) | shares (133,324)    
Cancelled (in shares) | shares (9,252)    
Restricted stock unit awards outstanding at the end of the period (in shares) | shares 813,602   589,142
Weighted Average Grant Date Fair Value Per Unit      
Restricted stock unit awards outstanding at the beginning of the period (in dollars per share) | $ / shares $ 16.35    
Granted (in dollars per share) | $ / shares 13.88    
Vested (in dollars per share) | $ / shares 17.60    
Cancelled (in dollars per share) | $ / shares 18.20    
Restricted stock unit awards outstanding at the end of the period (in dollars per share) | $ / shares $ 15.01   $ 16.35
Aggregate Intrinsic Value      
Restricted stock unit awards, Average Intrinsic Value | $ $ 13,221   $ 8,425
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 | $ $ 400 $ 200  
Total unrecognized pre-tax compensation expense related to awards | $ $ 3,100    
Weighted-average period over which unrecognized compensation cost is expected to be recognized 2 years 6 months    
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 198,232    
Granted (in shares) | shares 160,659    
Vested (in shares) | shares (38,842)    
Restricted stock unit awards outstanding at the end of the period (in shares) | shares 320,049   198,232
Weighted Average Grant Date Fair Value Per Unit      
Restricted stock unit awards outstanding at the beginning of the period (in dollars per share) | $ / shares $ 18.93    
Granted (in dollars per share) | $ / shares 13.88    
Vested (in dollars per share) | $ / shares 29.02    
Restricted stock unit awards outstanding at the end of the period (in dollars per share) | $ / shares $ 15.17   $ 18.93
Aggregate Intrinsic Value      
Restricted stock unit awards, Average Intrinsic Value | $ $ 5,201   $ 2,785
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%    
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%    
2016 Plan | 2025 PSUs | Minimum      
Stock-based compensation, general disclosures.      
Performance goals revenue change and adjusted EBITDA margin 25.00%    
2016 Plan | 2025 PSUs | Maximum      
Stock-based compensation, general disclosures.      
Performance goals revenue change and adjusted EBITDA margin 175.00%    
2016 Plan | 2024 PSUs | Minimum      
Stock-based compensation, general disclosures.      
Performance goals revenue change and adjusted EBITDA margin 25.00%    
2016 Plan | 2024 PSUs | Maximum      
Stock-based compensation, general disclosures.      
Performance goals revenue change and adjusted EBITDA margin 175.00%    
2016 Plan | 2023 PSUs      
Stock-based compensation, general disclosures.      
Number of performance awards under share-based payment arrangement | item 3    
2016 Plan | Tranche one | 2024 PSUs      
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 | 2025 PSUs      
Stock-based compensation, general disclosures.      
Award vesting percentage 33.33%    
2016 Plan | Tranche three | 2026 PSUs      
Stock-based compensation, general disclosures.      
Award vesting percentage 33.33%