Condensed Consolidated Balance Sheets (Unaudited) (Parenthetical) - USD ($) $ in Thousands	Sep. 30, 2020	Dec. 31, 2019
Statement Of Financial Position [Abstract]
Accumulated depreciation	$ 58,629	$ 50,574
Preferred stock, par value	$ 0.001	$ 0.001
Preferred stock, shares authorized	5,000,000	5,000,000
Preferred stock, shares issued	0	0
Preferred stock, shares outstanding	0	0
Common stock, par value	$ 0.001	$ 0.001
Common stock, shares authorized	110,000,000	55,000,000
Common stock, shares issued	36,904,856	36,104,619
Common stock, shares outstanding	35,291,606	34,863,271
Treasury stock, shares	1,613,250	1,241,348