CONSOLIDATED STATEMENTS OF STOCKHOLDERS' EQUITY - USD ($) shares in Thousands, $ in Thousands	Common stock	Additional paid-in capital	Accumulated other comprehensive income (loss)	Accumulated deficit	Total
Beginning Balance at Dec. 31, 2022	$ 37	$ 763,688	$ (2,623)	$ (402,162)	$ 358,940
Beginning balance (in shares) at Dec. 31, 2022	37,280
Increase (Decrease) in Stockholders' Equity
Issuance of common stock under stock plans, including tax effects		551			551
Issuance of common stock under stock plans, including tax effects (in shares)	144
Stock-based compensation expense		3,902			3,902
Foreign currency translation			42		42
Net loss				(6,103)	(6,103)
Ending Balance at Mar. 31, 2023	$ 37	768,141	(2,581)	(408,265)	357,332
Ending Balance (in shares) at Mar. 31, 2023	37,424
Beginning Balance at Dec. 31, 2023	$ 38	783,142	(1,757)	(434,496)	346,927
Beginning balance (in shares) at Dec. 31, 2023	38,014
Increase (Decrease) in Stockholders' Equity
Issuance of common stock under stock plans, including tax effects		599			599
Issuance of common stock under stock plans, including tax effects (in shares)	274
Stock-based compensation expense		5,265			5,265
Unrealized loss on marketable securities, net of tax			(607)		(607)
Foreign currency translation			(674)		(674)
Net loss				(10,072)	(10,072)
Ending Balance at Mar. 31, 2024	$ 38	$ 789,006	$ (3,038)	$ (444,568)	$ 341,438
Ending Balance (in shares) at Mar. 31, 2024	38,288