Unaudited Condensed Consolidated Statements of Stockholders' Deficit - USD ($) shares in Thousands, $ in Thousands	Total	Series A Preferred Stock	Common Stock	Additional Paid-in Capital	Additional Paid-in Capital Series A Preferred Stock	Accumulated Other Comprehensive Loss	Accumulated Deficit	Treasury Stock	March 2021 and August 2020 Offering Common Stock	March 2021 and August 2020 Offering Additional Paid-in Capital
Beginning balance (shares) at Dec. 31, 2020			76,406
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options for cash (shares)			1,183
Restricted stock units vested (shares)			1,456
Issuance of common stock (shares)									7,750
Treasury shares (shares)			(137)
Retired shares of Common Stock (shares)			0
Ending balance (shares) at Sep. 30, 2021			86,658
Stockholders' deficit, beginning of period at Dec. 31, 2020	$ (203,060)		$ 8	$ 98,258		$ (318)	$ (301,008)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock based compensation expense				7,104
Exercise of stock options for cash			0	5,046
Restricted stock units vested			0	0
Issuance of Common Stock									$ 1	$ 55,641
Treasury shares			0					$ (1,116)
Retired shares of Common Stock			0							0
Accretion related to redemption of Series A Preferred Stock				(13,693)
Make-whole dividends related to redemption of Series A Preferred Stock		$ (2,945)		(2,945)
Return on repurchase of Series A Preferred Stock shares		(38)			$ (38)
Accretion of discount on Series A Preferred Stock				(2,277)
Accrued dividends on Series A Preferred Stock:
Payable in cash				(5,839)
Payable in kind				(1,752)
Other comprehensive loss						(2,398)
Net income	5,162						5,162
Treasury Stock			0					(1,116)
Stockholders' deficit, end of period at Sep. 30, 2021	(160,164)		$ 9	139,505		(2,716)	(295,846)
Beginning balance (shares) at Jun. 30, 2021			85,704
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options for cash (shares)			383
Restricted stock units vested (shares)			708
Issuance of common stock (shares)									0
Treasury shares (shares)			(137)
Retired shares of Common Stock (shares)			0
Ending balance (shares) at Sep. 30, 2021			86,658
Stockholders' deficit, beginning of period at Jun. 30, 2021	(156,299)		$ 9	143,801		(2,262)	(297,777)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock based compensation expense				2,393
Exercise of stock options for cash			0	1,933
Restricted stock units vested			0	0
Issuance of Common Stock									$ 0	0
Treasury shares			0					(1,116)
Retired shares of Common Stock			0							0
Accretion related to redemption of Series A Preferred Stock				(8,020)
Make-whole dividends related to redemption of Series A Preferred Stock		(602)		(602)
Return on repurchase of Series A Preferred Stock shares		0			0
Accretion of discount on Series A Preferred Stock				0
Accrued dividends on Series A Preferred Stock:
Payable in cash				0
Payable in kind				0
Other comprehensive loss						(454)
Net income	1,931						1,931
Treasury Stock			0					(1,116)
Stockholders' deficit, end of period at Sep. 30, 2021	(160,164)		$ 9	139,505		(2,716)	(295,846)
Beginning balance (shares) at Dec. 31, 2021			87,107
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options for cash (shares)			518
Restricted stock units vested (shares)			1,391
Issuance of common stock (shares)									60
Treasury shares (shares)			0
Retired shares of Common Stock (shares)			(853)
Ending balance (shares) at Sep. 30, 2022			88,223
Stockholders' deficit, beginning of period at Dec. 31, 2021	(80,386)		$ 9	149,234		(2,724)	(225,789)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock based compensation expense				8,653
Exercise of stock options for cash			0	964
Restricted stock units vested			0	0
Issuance of Common Stock									$ 0	0
Treasury shares			0					(1,116)
Retired shares of Common Stock			0							(4,740)
Accretion related to redemption of Series A Preferred Stock				0
Make-whole dividends related to redemption of Series A Preferred Stock		0		0
Return on repurchase of Series A Preferred Stock shares		0			0
Accretion of discount on Series A Preferred Stock				0
Accrued dividends on Series A Preferred Stock:
Payable in cash				0
Payable in kind				0
Other comprehensive loss						(2,658)
Net income	2,792						2,792
Treasury Stock			0					(1,116)
Stockholders' deficit, end of period at Sep. 30, 2022	(75,375)		$ 9	154,111		(5,382)	(222,997)
Beginning balance (shares) at Jun. 30, 2022			87,529
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options for cash (shares)			193
Restricted stock units vested (shares)			701
Issuance of common stock (shares)									0
Treasury shares (shares)			0
Retired shares of Common Stock (shares)			(200)
Ending balance (shares) at Sep. 30, 2022			88,223
Stockholders' deficit, beginning of period at Jun. 30, 2022	(76,487)		$ 9	152,147		(4,935)	(222,592)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock based compensation expense				2,443
Exercise of stock options for cash			0	513
Restricted stock units vested			0	0
Issuance of Common Stock									$ 0	0
Treasury shares			0					(1,116)
Retired shares of Common Stock			0							$ (992)
Accretion related to redemption of Series A Preferred Stock				0
Make-whole dividends related to redemption of Series A Preferred Stock		0		0
Return on repurchase of Series A Preferred Stock shares		$ 0			$ 0
Accretion of discount on Series A Preferred Stock				0
Accrued dividends on Series A Preferred Stock:
Payable in cash				0
Payable in kind				0
Other comprehensive loss						(447)
Net income	(405)						(405)
Treasury Stock			0					$ (1,116)
Stockholders' deficit, end of period at Sep. 30, 2022	$ (75,375)		$ 9	$ 154,111		$ (5,382)	$ (222,997)