Employee Benefit Plans and Stock-based Compensation - Options (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Options
Number of Options Outstanding
Options outstanding, beginning of period (in shares)	1,378,000	1,885,000	2,953,000
Exercised (in shares)	(172,000)	(507,000)	(905,000)
Canceled and expired (in shares)			(163,000)
Options outstanding, end of period (in shares)	1,206,000	1,378,000	1,885,000	2,953,000
Options vested and unvested options expected to vest, net of forfeitures, end of period (in shares)	1,206,000
Options exercisable, end of period (in shares)	1,083,000
Weighted-average Exercise Price
Options outstanding, beginning of period (in dollars per share)	$ 4.83	$ 4.42	$ 4.00
Exercised (in dollars per share)	3.02	3.30	2.80
Canceled and expired (in dollars per share)			5.85
Options outstanding, end of period (in dollars per share)	5.09	$ 4.83	$ 4.42	$ 4.00
Options vested and unvested options expected to vest, net of forfeitures (in dollars per share)	5.09
Options exercisable, end of period (in dollars per share)	$ 5.32
Weighted average Remaining Contractual Life
Options outstanding	5 years 29 days	5 years 7 months 6 days	6 years 2 months 1 day	5 years 11 months 12 days
Options vested and unvested options expected to vest, net of forfeitures, end of period	5 years 29 days
Option exercisable, end of period	4 years 10 months 13 days
Aggregate Intrinsic Value
Options outstanding, beginning of period	$ 5,573,000	$ 9,713,000	$ 3,040,000
Options outstanding, end of period	630,000	$ 5,573,000	$ 9,713,000	$ 3,040,000
Options vested and expected to vest, end of period	629,000
Options exercisable, end of period	467,000
2015 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award
Compensation costs related to unvested stock options not yet recognized	200,000
Value of estimated forfeitures	$ 16,000
Weighted-average period of amortization	10 months 24 days