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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Convertible preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Convertible preferred stock, shares issued (in shares) 2,250,000 0
Convertible preferred stock, shares outstanding (in shares) 2,250,000 0
Preferred stock, par value (in usd per share) $ 0.001 $ 0.001
Preferred stock, shares authorized (in shares) 7,750,000 7,750,000
Preferred stock, shares outstanding (in shares) 0 0
Preferred stock, shares issued (in shares) 0 0
Common stock, par value (in 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) 38,704,000 37,755,000
Common stock, shares outstanding (in shares) 26,688,000 25,924,000
Treasury stock (in shares) 12,016,000 11,831,000