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Stockholders' Equity - Stock Options and Restricted Stock (Details)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2024
USD ($)
$ / shares
shares
Sep. 30, 2023
USD ($)
$ / shares
shares
Sep. 30, 2024
USD ($)
item
$ / shares
shares
Sep. 30, 2023
USD ($)
$ / shares
shares
Dec. 31, 2023
USD ($)
$ / shares
shares
Stock-based compensation, general disclosures.          
Stock-based compensation expense | $ $ 2,070 $ 1,766 $ 5,969 $ 5,597  
Employee Stock Option          
Stock-based compensation, general disclosures.          
Stock-based compensation expense | $ 0 $ 200 200 $ 800  
Total unrecognized pre-tax compensation expense related to nonvested stock option awards | $ $ 42,100   $ 42,100    
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     (24,142)    
Outstanding at end of period | shares 404,665   404,665   429,960
Weighted Average Exercise Price Per Share          
Outstanding at beginning of period | $ / shares     $ 40.74    
Exercised | $ / shares     1.35    
Cancelled/Expired | $ / shares     43.45    
Outstanding at end of period | $ / shares $ 40.69   $ 40.69   $ 40.74
Other information          
Options exercisable number of shares exercisable | shares 385,514 400,484 385,514 400,484  
Options exercisable, weighted-average exercise price | $ / shares $ 42.11 $ 43.45 $ 42.11 $ 43.45  
Weighted average remaining contractual life (in years)     3 years 1 month 6 days   3 years 9 months 18 days
Options exercisable, weighted-average remaining contractual life     3 years    
Aggregate Intrinsic Value, Options outstanding | $ $ 218   $ 218   $ 223
Aggregate Intrinsic Value, Exercised | $     14    
Aggregate Intrinsic Value, Options exercisable | $ 116   $ 116    
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 $ 1,200 $ 4,400 $ 3,800  
Total unrecognized pre-tax compensation expense related to awards | $ $ 7,700   $ 7,700    
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     539,496    
Vested (in shares) | shares     (254,490)    
Cancelled (in shares) | shares     (113,724)    
Restricted stock unit awards outstanding at the end of the period (in shares) | shares 760,424   760,424   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     13.82    
Vested (in dollars per share) | $ / shares     17.44    
Cancelled (in dollars per share) | $ / shares     14.70    
Restricted stock unit awards outstanding at the end of the period (in dollars per share) | $ / shares $ 14.44   $ 14.44   $ 16.35
Aggregate Intrinsic Value          
Restricted stock unit awards, Average Intrinsic Value | $ $ 11,110   $ 11,110   $ 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 $ 300 $ 1,000 $ 600  
Total unrecognized pre-tax compensation expense related to awards | $ $ 2,000   $ 2,000    
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     223,762    
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 272,919   272,919   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     13.76    
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 $ 15.19   $ 15.19   $ 18.93
Aggregate Intrinsic Value          
Restricted stock unit awards, Average Intrinsic Value | $ $ 3,987   $ 3,987   $ 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%