CONDENSED CONSOLIDATED STATEMENTS OF STOCKHOLDERS' (DEFICIT) EQUITY - USD ($) $ in Thousands	Total	Common Stock Issued	Additional Paid-In Capital	Treasury Stock	Accumulated Deficit
Balance beginning of period (in shares) at Dec. 31, 2021		112,703,926
Balance, beginning of period at Dec. 31, 2021	$ 82	$ 113	$ 165,695	$ (4,017)	$ (161,709)
Treasury stock, beginning balance (in shares) at Dec. 31, 2021				778,710
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Share-based compensation expense	10,798		10,798
Exercise of stock options (in shares)		133,762		151,239
Exercise of stock options	574		(697)	$ 1,271
Employee stock purchase plan	0
Issuance of restricted stock (in shares)		832,329		880,749
Issuance of restricted stock	0	$ 1	(3,960)	$ 3,959
Restricted stock shares canceled/forfeited (in shares)				5,338
Restricted stock shares canceled/forfeited	0		29	$ (29)
Shares repurchased for tax withholding (in shares)				249,778
Shares repurchased for tax withholding	(1,191)			$ (1,191)
Net income (loss)	(29,783)				(29,783)
Balance end of period (in shares) at Sep. 30, 2022		113,670,017
Balance, end of period at Sep. 30, 2022	(19,520)	$ 114	171,865	$ (7)	(191,492)
Treasury stock, ending balance (in shares) at Sep. 30, 2022				1,838
Balance beginning of period (in shares) at Jun. 30, 2022		113,609,274
Balance, beginning of period at Jun. 30, 2022	(13,603)	$ 114	169,352	$ (3)	(183,066)
Treasury stock, beginning balance (in shares) at Jun. 30, 2022				1,003
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Share-based compensation expense	2,372		2,372
Exercise of stock options (in shares)		49,666		1,001
Exercise of stock options	137		132	$ 5
Issuance of restricted stock (in shares)		11,077
Restricted stock shares canceled/forfeited (in shares)				1,836
Restricted stock shares canceled/forfeited	0		9	$ (9)
Net income (loss)	(8,426)				(8,426)
Balance end of period (in shares) at Sep. 30, 2022		113,670,017
Balance, end of period at Sep. 30, 2022	$ (19,520)	$ 114	171,865	$ (7)	(191,492)
Treasury stock, ending balance (in shares) at Sep. 30, 2022				1,838
Balance beginning of period (in shares) at Dec. 31, 2022	113,705,447	113,705,447
Balance, beginning of period at Dec. 31, 2022	$ (17,988)	$ 114	173,804	$ 0	(191,906)
Treasury stock, beginning balance (in shares) at Dec. 31, 2022				0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Share-based compensation expense	$ 12,793		12,793
Exercise of stock options (in shares)	62,599	45,567		17,032
Exercise of stock options	$ 406		294	$ 112
Employee stock purchase plan (in shares)		444,809
Employee stock purchase plan	1,368		1,368
Issuance of restricted stock (in shares)		2,163,925		73,335
Issuance of restricted stock	0	$ 2	(268)	$ 266
Restricted stock shares canceled/forfeited (in shares)				90,367
Restricted stock shares canceled/forfeited	0		378	$ (378)
Net income (loss)	$ 4,751				4,751
Balance end of period (in shares) at Sep. 30, 2023	116,359,748	116,359,748
Balance, end of period at Sep. 30, 2023	$ 1,330	$ 116	188,369	$ 0	(187,155)
Treasury stock, ending balance (in shares) at Sep. 30, 2023				0
Balance beginning of period (in shares) at Jun. 30, 2023		116,109,125
Balance, beginning of period at Jun. 30, 2023	(12,666)	$ 116	182,907	$ 0	(195,689)
Treasury stock, beginning balance (in shares) at Jun. 30, 2023				0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Share-based compensation expense	4,388		4,388
Exercise of stock options (in shares)		41,233		17,032
Exercise of stock options	386		274	$ 112
Employee stock purchase plan (in shares)		209,390
Employee stock purchase plan	688		688
Issuance of restricted stock (in shares)				11,080
Issuance of restricted stock	0		(73)	$ 73
Restricted stock shares canceled/forfeited (in shares)				28,112
Restricted stock shares canceled/forfeited	0		185	$ (185)
Net income (loss)	$ 8,534				8,534
Balance end of period (in shares) at Sep. 30, 2023	116,359,748	116,359,748
Balance, end of period at Sep. 30, 2023	$ 1,330	$ 116	$ 188,369	$ 0	$ (187,155)
Treasury stock, ending balance (in shares) at Sep. 30, 2023				0