Condensed Consolidated Statements of Stockholders' Equity (unaudited) - USD ($) $ in Thousands	Total	Cumulative effect of adoption of ASU 2020-06, net of taxes	Common Stock	Additional Paid-in Capital	Additional Paid-in Capital Cumulative effect of adoption of ASU 2020-06, net of taxes	Accumulated Deficit	Accumulated Deficit Cumulative effect of adoption of ASU 2020-06, net of taxes	Accumulated Other Comprehensive Income (Loss)
Balance at Dec. 31, 2021	$ 462,689	$ (137,979)	$ 39	$ 853,664	$ (185,141)	$ (388,112)	$ 47,162	$ (2,902)
Beginning Balance, shares at Dec. 31, 2021			39,389,733
Stock-based compensation	6,314			6,314
Vesting of restricted stock units and performance-based restricted stock units	1		$ 1
Vesting of restricted stock units and performance-based restricted stock units, shares			68,560
Stock award shares withheld to settle employee tax withholding liability	(572)			(572)
Stock award shares withheld to settle employee tax withholding liability, shares			(13,411)
Exercise of stock options	17			17
Exercise of stock options, shares			725
Issuance of shares under employee stock purchase plan	1,702			1,702
Issuance of shares under employee stock purchase plan, shares			58,747
Other comprehensive income (loss)	(5,360)							(5,360)
Net loss	(19,073)					(19,073)
Balance at Mar. 31, 2022	307,739		$ 40	675,984		(360,023)		(8,262)
Ending Balance, shares at Mar. 31, 2022			39,504,354
Balance at Dec. 31, 2022	289,111		$ 40	721,143		(402,124)		(29,948)
Beginning Balance, shares at Dec. 31, 2022			40,127,522
Stock-based compensation	13,931			13,931
Vesting of restricted stock units and performance-based restricted stock units, shares			250,127
Stock award shares withheld to settle employee tax withholding liability	(1,866)			(1,866)
Stock award shares withheld to settle employee tax withholding liability, shares			(56,062)
Exercise of stock options	$ 1,263			1,263
Exercise of stock options, shares	71,166		71,166
Issuance of shares under employee stock purchase plan	$ 2,546			2,546
Issuance of shares under employee stock purchase plan, shares			88,863
Other comprehensive income (loss)	2,426							2,426
Net loss	(14,648)					(14,648)
Balance at Mar. 31, 2023	$ 292,763		$ 40	$ 737,017		$ (416,772)		$ (27,522)
Ending Balance, shares at Mar. 31, 2023			40,481,616