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Stockholders' Equity - Narrative (Details)		1 Months Ended	3 Months Ended		7 Months Ended	12 Months Ended
Stockholders' Equity - Narrative (Details)	Nov. 06, 2018 $ / shares shares	Jan. 19, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares	Dec. 31, 2020 USD ($)	Dec. 31, 2021 USD ($) $ / shares shares	Dec. 16, 2020 USD ($) $ / shares shares	Oct. 22, 2021 shares	Sep. 30, 2021 $ / shares shares	Jun. 15, 2021 USD ($)	Jan. 31, 2020 shares	Dec. 13, 2019 USD ($)	Feb. 28, 2019	Oct. 23, 2018 $ / right $ / shares shares	Mar. 07, 2018 shares	Mar. 10, 2017 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation expense \| $			$ 31,200,000		$ 31,200,000
Weighted average period for unrecognized compensation expense expected to be recognized (in years)			2 years 7 months 6 days
Purchase of common stock (in shares)			807,342		807,342			816,717
Discount rate from market price, purchase date			0.15
Recognized compensation expense \| $			$ 3,132,000	$ 2,747,000
Total intrinsic value of options exercised \| $			$ 100,000	1,500,000
Options granted (in shares)			0
Amount authorized and approved under share repurchase program \| $									$ 15,000,000		$ 10,000,000
Amount of shares repurchased \| $			$ 10,100,000		$ 10,300,000	$ 1,000,000
Number of shares repurchased (in shares)			598,636			137,000
Average price of shares repurchased (in dollars per share) \| $ / shares			$ 16.95			$ 7.33
Preferred stock, par value (in dollars per share) \| $ / shares			$ 0.001		$ 0.001			$ 0.001
Percentage of common stock outstanding for acquiring person under right agreement												4.90%
Subsequent Event
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Amount of shares repurchased \| $		$ 4,700,000
Number of shares repurchased (in shares)		287,568
Average price of shares repurchased (in dollars per share) \| $ / shares		$ 16.29
Series B Preferred Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of preferred share purchase right for each share of common stock (in shares)													1
Preferred stock, share conversion ratio													0.001000
Preferred stock, par value (in dollars per share) \| $ / shares													$ 0.001
Preferred stock, purchase price per right (in dollars per right) \| $ / right													35.00
Preferred stock, redemption price per share (in dollars per share) \| $ / shares													$ 0.0001
Number of rights redeemed or exchanged (in shares)							0
RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted average period for unrecognized compensation expense expected to be recognized (in years)			2 years 8 months 12 days
Awards outstanding (in shares)			2,288,664		2,288,664			2,411,267
Recognized compensation expense \| $			$ 2,300,000	1,900,000
Unrecognized compensation expense related to nonvested awards \| $			23,400,000		$ 23,400,000
Performance RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation expense \| $			$ 7,100,000		$ 7,100,000
Weighted average period for unrecognized compensation expense expected to be recognized (in years)			2 years 7 months 6 days
Awards outstanding (in shares)			843,270		843,270			528,724
Recognized compensation expense \| $			$ 500,000	300,000
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted average period for unrecognized compensation expense expected to be recognized (in years)			1 year 7 months 6 days
Recognized compensation expense \| $			$ 200,000	200,000
Unrecognized compensation expense related to outstanding stock options \| $			600,000		$ 600,000
Performance options \| Chief Executive Officer
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of common stock reserved for future grants (in shares)	800,000
Recognized compensation expense \| $			$ 100,000	200,000
Exercise price per share (in dollars per share) \| $ / shares	$ 9.50
2020 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for issuance (in shares)										4,500,000
Number of common stock reserved for future grants (in shares)			1,621,243		1,621,243
2020 Plan \| RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awards outstanding (in shares)			1,314,982		1,314,982
2020 Plan \| Performance RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awards outstanding (in shares)			843,270		843,270
Prior Plans
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for issuance (in shares)										107,903
Purchase of common stock (in shares)			497,553		497,553
Prior Plans \| RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Awards outstanding (in shares)			586,099		586,099
ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for issuance (in shares)			520,865		520,865									1,000,000
Shares issued to participants pursuant to employee stock purchase plan (in shares)			479,135
Discount rate from market price, offering date			15.00%
Recognized compensation expense \| $			$ 100,000	$ 100,000
Director Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for issuance (in shares)															1,500,000
Number of common stock reserved for future grants (in shares)			214,888		214,888
Director Plan \| RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Purchase of common stock (in shares)			286,084		286,084