Stock-Based Compensation and Equity - Total Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]
Pre-tax stock-based compensation expense	$ 5,457	$ 7,005	$ 9,822
Less: income tax effect	(1,146)	(1,471)	(2,063)
Net (after tax) stock-based compensation expense	4,311	5,534	7,759
Costs of sales
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]
Pre-tax stock-based compensation expense	990	1,474	2,040
Operating expenses
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]
Pre-tax stock-based compensation expense	$ 4,467	$ 5,531	$ 7,782