Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018
Statement of Financial Position [Abstract]
Allowance for doubtful accounts	$ 1,001	$ 673
Debt issuance costs	$ 2,783	$ 3,390
Common stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Common stock, shares authorized (in shares)	300,000,000	300,000,000
Common stock, shares, outstanding (in shares)	38,967,079	37,318,942
Treasury stock, shares outstanding (in shares)	10,403,798	11,524,975