Consolidated Statements of Shareholders' Equity - USD ($) shares in Thousands, $ in Thousands	Total	Cumulative Effect, Period of Adoption, Adjustment	Common Stock	Additional Paid In Capital	Additional Paid In Capital Cumulative Effect, Period of Adoption, Adjustment	Retained Earnings (Deficit)	Retained Earnings (Deficit) Cumulative Effect, Period of Adoption, Adjustment	Accumulated Other Comprehensive (Loss) Income	Treasury Stock
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance, treasury stock (in shares)									(1,484)
Balance, shares at Dec. 31, 2019			39,018
Balance at Dec. 31, 2019	$ 285,696		$ 390	$ 271,782		$ 36,704		$ (8,589)
Beginning balance, treasury stock at Dec. 31, 2019									$ (14,591)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net loss	(16,682)					(16,682)
Other comprehensive (loss) income	15,332							15,332
Stock issued (in shares)			992
Stock issued	20,000		$ 10	19,990
Equity component of the convertible note issuance	16,426			16,426
Equity compensation (in shares)			296
Equity compensation	7,504		$ 3	7,501
Exercise of options (in shares)			89						(3)
Exercise of options	$ 871		$ 1	927					$ (57)
Employee stock purchase plan (in shares)	83		83
Employee stock purchase plan	$ 1,561		$ 1	1,560
Redemption and repurchase of stock to cover tax withholdings (in shares)			(84)
Redemption and repurchase of stock to cover tax withholdings	(1,995)		$ (1)	(1,994)
Balance, shares at Dec. 31, 2020			40,394
Balance at Dec. 31, 2020	$ 328,713	$ (19,639)	$ 404	316,192	$ (16,426)	20,022	$ (3,213)	6,743
Ending balance, treasury stock (in shares) at Dec. 31, 2020									(1,487)
Ending balance, treasury stock at Dec. 31, 2020									$ (14,648)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Accounting Standards Update [Extensible Enumeration]	ASU 2020-06
Beginning balance, treasury stock (in shares)									(1,487)
Net loss	$ (14,834)					(14,834)
Other comprehensive (loss) income	(16,630)							(16,630)
Stock issued (in shares)			553
Stock issued	10,000		$ 6	9,994
Equity compensation (in shares)			260
Equity compensation	11,277		$ 3	11,274
Exercise of options (in shares)			179
Exercise of options	$ 2,146		$ 1	2,145
Employee stock purchase plan (in shares)	87		87
Employee stock purchase plan	$ 1,609		$ 1	1,608
Redemption and repurchase of stock to cover tax withholdings (in shares)			(76)
Redemption and repurchase of stock to cover tax withholdings	(1,914)		$ (1)	(1,913)
Balance, shares at Dec. 31, 2021			41,397
Balance at Dec. 31, 2021	$ 300,728		$ 414	322,874		1,975		(9,887)
Ending balance, treasury stock (in shares) at Dec. 31, 2021	(1,487)								(1,487)
Ending balance, treasury stock at Dec. 31, 2021	$ 14,648								$ (14,648)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance, treasury stock (in shares)	(1,487)								(1,487)
Net loss	$ (19,192)					(19,192)
Other comprehensive (loss) income	(11,722)							(11,722)
Equity compensation (in shares)			282
Equity compensation	12,942		$ 3	12,939
Exercise of options (in shares)			151
Exercise of options	$ 1,789		$ 1	1,788
Employee stock purchase plan (in shares)	95		95
Employee stock purchase plan	$ 1,579		$ 1	1,578
Redemption and repurchase of stock to cover tax withholdings (in shares)			(95)
Redemption and repurchase of stock to cover tax withholdings	(1,795)		$ (1)	(1,794)
Balance, shares at Dec. 31, 2022			41,830
Balance at Dec. 31, 2022	$ 284,329		$ 418	$ 337,385		$ (17,217)		$ (21,609)
Ending balance, treasury stock (in shares) at Dec. 31, 2022	(1,487)								(1,487)
Ending balance, treasury stock at Dec. 31, 2022	$ 14,648								$ (14,648)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance, treasury stock (in shares)	(1,487)								(1,487)