CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($) $ in Thousands	Mar. 31, 2020	Dec. 31, 2019
Statement of Financial Position [Abstract]
Accounts receivable—less allowance for doubtful accounts of $3,421 and $2,472 at March 31, 2020 and December 31, 2019, respectively	$ 3,421	$ 2,472
Common stock, par value (usd per share)	$ 0.001	$ 0.001
Common stock, shares authorized (in shares)	100,000,000	100,000,000
Common stock, shares issued (in shares)	56,437,000	56,176,000
Common stock, shares outstanding (in shares)	53,666,000	53,487,000
Common stock in treasury, at cost (in shares)	2,771,000	2,079,000