Consolidated Statements of Changes in Stockholders' Equity - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Treasury Stock	Accumulated Other Comprehensive Loss	Accumulated (Deficit)
Beginning balance (in shares) at Dec. 31, 2022		61,279,379
Beginning balance at Dec. 31, 2022	$ 382,267	$ 613	$ 1,105,701	$ (468,879)	$ (16,261)	$ (238,907)
Beginning balance, treasury stock (in shares) at Dec. 31, 2022				(26,685,542)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of shares related to stock-based compensation (in shares)		278,432		(54,290)
Issuance of shares related to stock-based compensation	267	$ 3	1,326	$ (1,062)
Stock-based compensation expense	5,393		5,393
Foreign currency translation adjustment, net of tax	(2,188)				(2,188)
Net income	9,314					9,314
Ending balance (in shares) at Mar. 31, 2023		61,557,811
Ending balance at Mar. 31, 2023	$ 395,053	$ 616	1,112,420	$ (469,941)	(18,449)	(229,593)
Ending balance, treasury stock (in shares) at Mar. 31, 2023				(26,739,832)
Beginning balance (in shares) at Dec. 31, 2023	35,302,746	62,660,783
Beginning balance at Dec. 31, 2023	$ 152,700	$ 627	1,151,259	$ (485,793)	(15,191)	(498,202)
Beginning balance, treasury stock (in shares) at Dec. 31, 2023	(27,358,037)			(27,358,037)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of shares related to stock-based compensation (in shares)		645,463		(121,301)
Issuance of shares related to stock-based compensation	$ 918	$ 6	3,206	$ (2,294)
Stock-based compensation expense	5,289		5,289
Foreign currency translation adjustment, net of tax	(265)				(265)
Net income	$ 8,424					8,424
Ending balance (in shares) at Mar. 31, 2024	35,826,908	63,306,246
Ending balance at Mar. 31, 2024	$ 167,066	$ 633	$ 1,159,754	$ (488,087)	$ (15,456)	$ (489,778)
Ending balance, treasury stock (in shares) at Mar. 31, 2024	(27,479,338)			(27,479,338)