Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Accounts Receivable, Allowance for Credit Loss, Current	$ (3,223)	$ (2,429)
Preferred stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Preferred stock, shares authorized (in shares)	5,000,000	5,000,000
Common stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Common stock, shares authorized (in shares)	100,000,000	100,000,000
Common stock, shares issued (in shares)	51,102,000	46,625,000
Common stock, shares outstanding (in shares)	44,951,000	43,023,000
Treasury stock (in shares)	6,151,000	3,602,000
Series A-1
Preferred stock, shares issued (in shares)	0	4,204,000
Preferred stock, shares outstanding (in shares)	0	4,204,000
Series B
Preferred stock, shares issued (in shares)	0	357,000
Preferred stock, shares outstanding (in shares)	0	357,000