CONDENSED CONSOLIDATED STATEMENTS OF SHAREHOLDERS' EQUITY - USD ($) shares in Thousands, $ in Thousands	Total	Common Stock	Accumulated Other Comprehensive Gain (Loss)	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2021		46,880
Beginning balance at Dec. 31, 2021	$ 170,462	$ 553,902	$ (154)	$ (383,286)
Increase (Decrease) in Shareholders' Equity
Net loss	(7,091)			(7,091)
Stock-based compensation expense	9,531	$ 9,531
Stock option exercises (in shares)		125
Stock option exercises	1,155	$ 1,155
Shares issued under the Employee Stock Purchase Plan (in shares)		9
Shares issued under the Employee Stock Purchase Plan	310	$ 310
Issuance of stock for restricted stock unit vesting (in shares)		108
Restricted stock withheld for employee tax remittance (in shares)		(41)
Restricted stock withheld for employee tax remittance	(1,423)	$ (1,423)
Unrealized gain (loss) on investment	(459)		(459)
Ending balance (in shares) at Mar. 31, 2022		47,081
Ending balance at Mar. 31, 2022	$ 172,485	$ 563,475	(613)	(390,377)
Beginning balance (in shares) at Dec. 31, 2022	47,253	47,253
Beginning balance at Dec. 31, 2022	$ 192,272	$ 593,245	(978)	(399,995)
Increase (Decrease) in Shareholders' Equity
Net loss	(7,495)			(7,495)
Stock-based compensation expense	8,731	$ 8,731
Stock option exercises (in shares)		132
Stock option exercises	2,009	$ 2,009
Shares issued under the Employee Stock Purchase Plan (in shares)		11
Shares issued under the Employee Stock Purchase Plan	216	$ 216
Issuance of stock for restricted stock unit vesting (in shares)		183
Restricted stock withheld for employee tax remittance (in shares)		(72)
Restricted stock withheld for employee tax remittance	(2,097)	$ (2,097)
Unrealized gain (loss) on investment	$ 342		342
Ending balance (in shares) at Mar. 31, 2023	47,507	47,507
Ending balance at Mar. 31, 2023	$ 193,978	$ 602,104	$ (636)	$ (407,490)