Consolidated Statements of Stockholders' Equity - USD ($) shares in Thousands, $ in Thousands	Common Stock	Additional Paid-in Capital	Accumulated Deficit	Accumulated Other Comprehensive Income (Loss)	Total
Balance (in shares) at Dec. 31, 2019	32,585
Balance at Dec. 31, 2019	$ 33	$ 559,878	$ (140,226)	$ (258)	$ 419,427
Increase (Decrease) in Stockholders' Equity
Net income			49,982		49,982
Foreign currency translation adjustments				3,427	3,427
Change in pension obligation, net of tax				266	266
Exercise of stock options (in shares)	1,001
Exercise of stock options	$ 1	8,418			8,419
Issuance of shares under Employee Stock Purchase Plan (in shares)	41
Issuance of shares under Employee Stock Purchase Plan		1,011			1,011
Issuance of common shares on restricted stock units, net of shares withheld (in shares)	364
Issuance of common shares on restricted stock units, net of shares withheld		(3,915)			(3,915)
Stock-based compensation expense		10,485			10,485
Repurchase of common stock (in shares)	(358)
Repurchase of common stock		(5,775)	(1,725)		(7,500)
Balance (in shares) at Dec. 31, 2020	33,633
Balance at Dec. 31, 2020	$ 34	570,102	(91,969)	3,435	481,602
Increase (Decrease) in Stockholders' Equity
Net income			98,650		98,650
Foreign currency translation adjustments				(1,881)	(1,881)
Change in pension obligation, net of tax				211	211
Exercise of stock options (in shares)	396
Exercise of stock options		3,687			3,687
Issuance of shares under Employee Stock Purchase Plan (in shares)	26
Issuance of shares under Employee Stock Purchase Plan		1,179			1,179
Issuance of common shares on restricted stock units, net of shares withheld (in shares)	326
Issuance of common shares on restricted stock units, net of shares withheld		(6,564)			(6,564)
Stock-based compensation expense		12,067			12,067
Repurchase of common stock (in shares)	(1,141)
Repurchase of common stock	$ (1)	(20,588)	(29,403)		(49,992)
Balance (in shares) at Dec. 31, 2021	33,240
Balance at Dec. 31, 2021	$ 33	559,883	(22,722)	1,765	538,959
Increase (Decrease) in Stockholders' Equity
Net income			183,079		183,079
Foreign currency translation adjustments				(4,058)	(4,058)
Change in pension obligation, net of tax				325	325
Exercise of stock options (in shares)	103
Exercise of stock options		1,247			1,247
Issuance of shares under Employee Stock Purchase Plan (in shares)	29
Issuance of shares under Employee Stock Purchase Plan		1,662			1,662
Issuance of common shares on restricted stock units, net of shares withheld (in shares)	291
Issuance of common shares on restricted stock units, net of shares withheld		(9,907)			(9,907)
Stock-based compensation expense		13,444			13,444
Repurchase of common stock (in shares)	(888)
Repurchase of common stock		(16,030)	(41,465)		(57,495)
Balance (in shares) at Dec. 31, 2022	32,775
Balance at Dec. 31, 2022	$ 33	$ 550,299	$ 118,892	$ (1,968)	$ 667,256