Condensed Consolidated Statements of Stockholders' Equity (Unaudited) - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2020		64,283,000
Beginning balance at Dec. 31, 2020	$ 170,103	$ 6	$ 536,516	$ (366,419)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options (in shares)	118,437	118,000
Exercise of stock options	$ 1,223		1,223
Release of stock awards (in shares)		139,000
Employee stock-based compensation	2,626		2,626
Non-employee stock-based compensation	61		61
Taxes paid related to net share settlement of equity awards (in shares)		(52,000)
Taxes paid related to net share settlement of equity awards	(1,206)		(1,206)
Net loss	(9,068)			(9,068)
Ending balance (in shares) at Mar. 31, 2021		64,488,000
Ending balance at Mar. 31, 2021	163,739	$ 6	539,220	(375,487)
Beginning balance (in shares) at Dec. 31, 2021		65,109,000
Beginning balance at Dec. 31, 2021	$ 164,391	$ 6	552,083	(387,698)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options (in shares)	77,600	78,000
Exercise of stock options	$ 181		181
Release of stock awards (in shares)		190,000
Employee stock-based compensation	3,777		3,777
Non-employee stock-based compensation	61		61
Taxes paid related to net share settlement of equity awards (in shares)		(73,000)
Taxes paid related to net share settlement of equity awards	(1,419)		(1,419)
Net loss	(8,356)			(8,356)
Ending balance (in shares) at Mar. 31, 2022		65,304,000
Ending balance at Mar. 31, 2022	$ 158,635	$ 6	$ 554,683	$ (396,054)