Stock-Based Compensation and Stockholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands												1 Months Ended	12 Months Ended
	Dec. 31, 2021	Jun. 30, 2021	May 18, 2021	Dec. 11, 2020	Nov. 23, 2020	Oct. 15, 2020	Aug. 25, 2020	Mar. 10, 2020	Jan. 28, 2020	Dec. 03, 2019	Nov. 18, 2019	Jun. 30, 2020	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	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				5,556	2,549,552		0	872,003
Granted (in dollars per share)				$ 10.35		$ 13.82				$ 16.20	$ 16.20		$ 0	$ 11.90
Nonvested award, option, cost not yet recognized, amount	$ 8,500												$ 8,500	$ 15,500
Proceeds from exercise of stock options													7,047	11,241	$ 439
Exercise of option, tax benefit													1,900	1,700	400
Stock-based compensation expense (benefit)													$ 8,094	$ (2,895)	14,119
Stock issued under employee stock purchase plan (in shares)	73,627	149,865											223,492
Warrants outstanding (in shares)	9,432,064												9,432,064	10,459,141
Number of shares of common stock to be issued for upon exercise of warrants (in shares)	5,240,035												5,240,035	5,810,634
Warrant, exercise price (in usd per share)	$ 24.39												$ 24.39	$ 24.39
Number of warrants exercised during period (in shares)													1,027,777	0
Proceeds from exercise of stock warrants													$ 13,920	$ 0	0
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)								833,333	1,049,956			785,250
Purchase of treasury stock								$ 9,200	$ 12,600			$ 8,800		$ 30,626	437,962
Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Award vesting period													3 years
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
Nonvested award, cost not yet recognized, period for recognition													1 year 7 months 6 days	2 years 6 months
Plan modification, incremental cost					$ 1,500
Stock-based compensation expense (benefit)													$ 6,400	$ (2,900)	$ 14,100
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
Employee Stock
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-based compensation expense (benefit)													$ 1,700
Purchase price, after discount													85.00%
2020 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, reserved for future issuance (in shares)														1,000,000
Number of shares available for grant (in shares)			3,981,490
Number of additional shares authorized (in shares)			2,981,490
Annual increase in number of shares			5.00%
2016 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock available for purchase under ESPP (in shares)																6,166,667