Stock-Based Compensation and Stockholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands													12 Months Ended
	Dec. 31, 2022	Jun. 30, 2022	Dec. 31, 2021	Jun. 30, 2021	May 18, 2021	Dec. 11, 2020	Nov. 23, 2020	Oct. 15, 2020	Aug. 25, 2020	Jun. 30, 2020	Mar. 10, 2020	Jan. 28, 2020	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Jan. 01, 2022	Dec. 31, 2016
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock options granted during period (in shares)						482,000		388,892					0	0
Granted (in dollars per share)						$ 10.35		$ 13.82					$ 0	$ 0
Nonvested award, option, cost not yet recognized, amount	$ 2,200		$ 8,500										$ 2,200	$ 8,500
Proceeds from exercises of stock options and stock warrants													2,800	7,000	$ 11,200
Exercise of option, tax benefit													$ 700	$ 1,900	1,700
Number of shares entitled per RSU (in shares)													1
Requisite service period, options													3 years
Number of shares entitled with each PSU (in shares)													1
Warrants outstanding (in shares)	9,427,343		9,432,064										9,427,343	9,432,064
Number of shares of common stock to be issued for upon exercise of warrants (in shares)	5,237,413		5,240,035										5,237,413	5,240,035
Warrant, exercise price (in usd per share)	$ 24.39		$ 24.39										$ 24.39	$ 24.39
Number of warrants exercised during period (in shares)													4,721	1,027,777
Proceeds from warrant exercises													$ 100	$ 13,900
Number of shares issued (in shares)									68,857
Price per share (in usd per share)									$ 10.17
Total value raised, net of expenses									$ 400
Reissued treasury stock									$ (800)
Purchase of treasury stock (in shares)										829,694	817,778	1,034,568
Purchase of treasury stock										$ 8,900	$ 9,200	$ 12,600			$ 30,626
Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Requisite service period, options													3 years
Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Requisite service period, options													4 years
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock issued under employee stock Shares issued in period (in shares)													0	0
Award expiration period													10 years
Number of shares affected (in shares)							2,377,886
Plan modification, original exercise price (dollars per share)							$ 16.20
Plan modification, repriced exercise price (dollars per share)							$ 13.82
Plan modification, incremental cost							$ 1,500
Nonvested award, cost not yet recognized, period for recognition													8 months 12 days	1 year 7 months 6 days
Stock options | Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period													3 years
Stock options | Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period													4 years
RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Nonvested award, cost not yet recognized, period for recognition													1 year 10 months 24 days
Share-based payment arrangement, period for recognition	$ 9,900												$ 9,900
Equity instruments other than options, nonvested (in shares)	517,135												517,135
Weighted average fair value (in dollars per share)	$ 25.93												$ 25.93
RSUs | Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Requisite service period, options													8 months
RSUs | Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Requisite service period, options													3 years
Performance Shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period													3 years
Nonvested award, cost not yet recognized, period for recognition													2 years
Requisite service period, options													3 years
Share-based payment arrangement, period for recognition	$ 9,500												$ 9,500
Equity instruments other than options, nonvested (in shares)	473,371												473,371
Weighted average fair value (in dollars per share)	$ 26.76												$ 26.76
ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock available for purchase under ESPP (in shares)			2,000,000											2,000,000
Stock issued under employee stock Shares issued in period (in shares)	157,250	114,945	149,865,000	73,627,000									272,195	223,492
Purchase price, after discount														85.00%
2016 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock available for purchase under ESPP (in shares)																	6,166,667
2020 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Annual increase in number of shares					5.00%
Number of shares available for grant (in shares)			34,071,684											34,071,684		1,703,584