Equity - Statement of Stockholders' Equity (Details) - USD ($) shares in Thousands, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Sep. 30, 2022	Sep. 30, 2021
Increase (Decrease) in Stockholders' Equity
Balance at the beginning of the period	$ 420,737	$ 403,570	$ 437,628	$ 423,735	$ 412,461	$ 408,374	$ 437,628	$ 408,374
Net income	15,041	9,655	13,330	8,993	6,348	2,494	38,026	17,835
Other comprehensive income (loss), net of tax	(170)	(272)	(822)	(33)	(24)	(19)
Share-based compensation expense	6,210	6,278	4,481	4,131	4,367	3,237
Net issuance under employee stock plans	(703)	1,506	(6,787)	(1,513)	583	(1,625)
Balance at the end of the period	441,115	420,737	403,570	435,313	423,735	412,461	441,115	435,313
Cumulative Effect, Period of Adoption, Adjustment
Increase (Decrease) in Stockholders' Equity
Balance at the beginning of the period			(44,260)				(44,260)
Common Stock
Increase (Decrease) in Stockholders' Equity
Balance at the beginning of the period	$ 515	$ 513	$ 507	$ 503	$ 502	$ 497	$ 507	$ 497
Balance (in shares)	51,425	51,243	50,653	50,349	50,183	49,724	50,653	49,724
Net issuance under employee stock plans		$ 2	$ 6		$ 1	$ 5
Net issuance under employee stock plans (in shares)	(5)	182	590	(28)	166	459
Balance at the end of the period	$ 515	$ 515	$ 513	$ 503	$ 503	$ 502	$ 515	$ 503
Balance (in shares)	51,420	51,425	51,243	50,321	50,349	50,183	51,420	50,321
Additional Paid-in Capital
Increase (Decrease) in Stockholders' Equity
Balance at the beginning of the period	$ 1,065,590	$ 1,057,808	$ 1,116,921	$ 1,119,908	$ 1,114,959	$ 1,113,352	$ 1,116,921	$ 1,113,352
Share-based compensation expense	6,210	6,278	4,481	4,131	4,367	3,237
Net issuance under employee stock plans	(703)	1,504	(6,793)	(1,513)	582	(1,630)
Balance at the end of the period	1,071,097	1,065,590	1,057,808	1,122,526	1,119,908	1,114,959	1,071,097	1,122,526
Additional Paid-in Capital | Cumulative Effect, Period of Adoption, Adjustment
Increase (Decrease) in Stockholders' Equity
Balance at the beginning of the period			(56,801)				(56,801)
Accumulated Deficit
Increase (Decrease) in Stockholders' Equity
Balance at the beginning of the period	(645,757)	(655,412)	(681,283)	(698,479)	(704,827)	(707,321)	(681,283)	(707,321)
Net income	15,041	9,655	13,330	8,993	6,348	2,494
Balance at the end of the period	(630,716)	(645,757)	(655,412)	(689,486)	(698,479)	(704,827)	(630,716)	(689,486)
Accumulated Deficit | Cumulative Effect, Period of Adoption, Adjustment
Increase (Decrease) in Stockholders' Equity
Balance at the beginning of the period			12,541				12,541
Accumulated Other Comprehensive Income
Increase (Decrease) in Stockholders' Equity
Balance at the beginning of the period	389	661	1,483	1,803	1,827	1,846	1,483	1,846
Other comprehensive income (loss), net of tax	(170)	(272)	(822)	(33)	(24)	(19)
Balance at the end of the period	$ 219	$ 389	$ 661	$ 1,770	$ 1,803	$ 1,827	$ 219	$ 1,770