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Stock-Based Compensation and Stockholders' Equity - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
Aug. 25, 2020
Mar. 10, 2020
Jan. 28, 2020
Jun. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Stock options granted during period (in shares)             333,025    
Stock compensation expense (benefit)         $ 2,340 $ 1,289 $ 6,232 $ (4,195)  
Stock issued under employee stock purchase plan (in shares)         0   149,865    
Warrants outstanding (in shares)         9,400,000   9,400,000   10,500,000
Number of shares of common stock to be issued for upon exercise of warrants (in shares)         5,200,000   5,200,000   5,800,000
Warrant, exercise price (in usd per share)         $ 24.39   $ 24.39   $ 24.39
Number of warrants exercised during period (in shares)         15,425 0 1,026,649 0  
Proceeds from warrant exercises             $ 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)   800,000 1,000,000 800,000 0   0    
Purchase of treasury stock   $ 9,200 $ 12,600 $ 8,800       $ 30,626  
Minimum                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Weighted average exercise price of options exercised during period (in usd per share)             $ 3.68    
Maximum                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Weighted average exercise price of options exercised during period (in usd per share)             $ 13.82    
Stock Options                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Stock compensation expense (benefit)         $ 1,600 $ 1,300 $ 4,800 $ (4,200)  
2021 Employee Stock Purchase Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Stock compensation expense (benefit)         $ 800   $ 1,400    
Purchase price, after discount             85.00%    
Stock available for purchase under ESPP (in shares)         2,000,000   2,000,000