Equity - Statement of Stockholders' Equity (Details) - USD ($) shares in Thousands, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2021	Mar. 31, 2021	Jun. 30, 2022	Jun. 30, 2021
Increase (Decrease) in Stockholders' Equity
Balance at the beginning of the period	$ 403,570	$ 437,628	$ 412,461	$ 408,374	$ 437,628	$ 408,374
Net income	9,655	13,330	6,348	2,494	22,985	8,842
Other comprehensive income (loss), net of tax	(272)	(822)	(24)	(19)
Share-based compensation expense	6,278	4,481	4,367	3,237
Net issuance under employee stock plans	1,506	(6,787)	583	(1,625)
Balance at the end of the period	420,737	403,570	423,735	412,461	420,737	423,735
Cumulative Effect, Period of Adoption, Adjustment
Increase (Decrease) in Stockholders' Equity
Balance at the beginning of the period		(44,260)			(44,260)
Common Stock
Increase (Decrease) in Stockholders' Equity
Balance at the beginning of the period	$ 513	$ 507	$ 502	$ 497	$ 507	$ 497
Balance (in shares)	51,243	50,653	50,183	49,724	50,653	49,724
Net issuance under employee stock plans	$ 2	$ 6	$ 1	$ 5
Net issuance under employee stock plans (in shares)	182	590	166	459
Balance at the end of the period	$ 515	$ 513	$ 503	$ 502	$ 515	$ 503
Balance (in shares)	51,425	51,243	50,349	50,183	51,425	50,349
Additional Paid-in Capital
Increase (Decrease) in Stockholders' Equity
Balance at the beginning of the period	$ 1,057,808	$ 1,116,921	$ 1,114,959	$ 1,113,352	$ 1,116,921	$ 1,113,352
Share-based compensation expense	6,278	4,481	4,367	3,237
Net issuance under employee stock plans	1,504	(6,793)	582	(1,630)
Balance at the end of the period	1,065,590	1,057,808	1,119,908	1,114,959	1,065,590	1,119,908
Additional Paid-in Capital | Cumulative Effect, Period of Adoption, Adjustment
Increase (Decrease) in Stockholders' Equity
Balance at the beginning of the period		(56,801)			(56,801)
Accumulated Deficit
Increase (Decrease) in Stockholders' Equity
Balance at the beginning of the period	(655,412)	(681,283)	(704,827)	(707,321)	(681,283)	(707,321)
Net income	9,655	13,330	6,348	2,494
Balance at the end of the period	(645,757)	(655,412)	(698,479)	(704,827)	(645,757)	(698,479)
Accumulated Deficit | Cumulative Effect, Period of Adoption, Adjustment
Increase (Decrease) in Stockholders' Equity
Balance at the beginning of the period		12,541			12,541
Accumulated Other Comprehensive Income
Increase (Decrease) in Stockholders' Equity
Balance at the beginning of the period	661	1,483	1,827	1,846	1,483	1,846
Other comprehensive income (loss), net of tax	(272)	(822)	(24)	(19)
Balance at the end of the period	$ 389	$ 661	$ 1,803	$ 1,827	$ 389	$ 1,803