Condensed Consolidated Balance Sheets (unaudited) (Parenthetical) - USD ($) $ in Thousands	Sep. 30, 2020	Dec. 31, 2019
Statement of Financial Position [Abstract]
Allowance for doubtful accounts	$ 1,613	$ 1,001
Debt issuance costs	$ 1,767	$ 2,783
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)	39,332,314	38,967,079
Treasury stock, shares outstanding (in shares)	10,589,584	10,403,798