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Stockholders' Equity - Stock Options and Restricted Stock (Details)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2024
USD ($)
$ / shares
shares
Jun. 30, 2023
USD ($)
$ / shares
shares
Jun. 30, 2024
USD ($)
item
$ / shares
shares
Jun. 30, 2023
USD ($)
$ / shares
shares
Dec. 31, 2023
USD ($)
Stock-based compensation, general disclosures.          
Stock-based compensation expense | $ $ 1,860 $ 1,808 $ 3,899 $ 3,831  
Employee Stock Option          
Stock-based compensation, general disclosures.          
Stock-based compensation expense | $ 100 $ 200 200 $ 500  
Total unrecognized pre-tax compensation expense related to nonvested stock option awards | $ $ 100   $ 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     (1,153)    
Cancelled/Expired | shares     (12,995)    
Outstanding at end of period | shares 415,812   415,812    
Weighted Average Exercise Price Per Share          
Outstanding at beginning of period | $ / shares     $ 40.74    
Exercised | $ / shares     1.35    
Cancelled/Expired | $ / shares     41.17    
Outstanding at end of period | $ / shares $ 40.83   $ 40.83    
Other information          
Options exercisable number of shares exercisable | shares 392,239 435,559 392,239 435,559  
Options exercisable, weighted-average exercise price | $ / shares $ 42.19 $ 44.67 $ 42.19 $ 44.67  
Weighted average remaining contractual life (in years)     3 years 3 months 18 days 3 years 9 months 18 days  
Options exercisable, weighted-average remaining contractual life     3 years 2 months 12 days    
Aggregate Intrinsic Value, Options outstanding | $ $ 125   $ 125   $ 223
Aggregate Intrinsic Value, Exercised | $     14    
Aggregate Intrinsic Value, Options exercisable | $ 65   $ 65    
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 | $ 1,500 $ 1,300 $ 2,900 $ 2,600  
Total unrecognized pre-tax compensation expense related to awards | $ $ 8,300   $ 8,300    
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) | shares     589,142    
Granted (in shares) | shares     464,145    
Vested (in shares) | shares     (224,149)    
Cancelled (in shares) | shares     (107,363)    
Restricted stock unit awards outstanding at the end of the period (in shares) | shares 721,775   721,775    
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     13.87    
Vested (in dollars per share) | $ / shares     18.02    
Cancelled (in dollars per share) | $ / shares     14.62    
Restricted stock unit awards outstanding at the end of the period (in dollars per share) | $ / shares $ 14.50   $ 14.50    
Aggregate Intrinsic Value          
Restricted stock unit awards, Average Intrinsic Value | $ $ 8,618   $ 8,618   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 | $ 200 $ 100 $ 600 $ 300  
Total unrecognized pre-tax compensation expense related to awards | $ $ 1,500   $ 1,500    
Weighted-average period over which unrecognized compensation cost is expected to be recognized     2 years 2 months 12 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     198,232    
Granted (in shares) | shares     160,659    
Vested (in shares) | shares     (44,162)    
Cancelled (in shares) | shares     (104,913)    
Restricted stock unit awards outstanding at the end of the period (in shares) | shares 209,816   209,816    
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     27.31    
Cancelled (in dollars per share) | $ / shares     14.14    
Restricted stock unit awards outstanding at the end of the period (in dollars per share) | $ / shares $ 15.70   $ 15.70    
Aggregate Intrinsic Value          
Restricted stock unit awards, Average Intrinsic Value | $ $ 2,505   $ 2,505   $ 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%