CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018
Statement of Financial Position [Abstract]
Allowance for doubtful accounts receivable	$ 2,232	$ 2,336
Par value of common stock (in dollars per share)	$ 0.0001	$ 0.0001
Common stock, shares authorized (in shares)	400,000,000	400,000,000
Common stock, shares issued (in shares)	51,839,527	51,071,573
Common stock, shares outstanding (in shares)	51,178,146	50,410,192
Preferred stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Preferred stock, shares authorized (in shares)	1	1
Preferred stock, shares outstanding (in shares)	1	1
Treasury stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Treasury stock (in shares)	661,381	661,381