Stockholders' Equity - Additional Information (Details) - USD ($)							1 Months Ended	3 Months Ended								9 Months Ended
	Oct. 25, 2022	Oct. 26, 2021	Sep. 20, 2021	Oct. 26, 2020	Oct. 23, 2018	Aug. 11, 2014	Jan. 27, 2020	Dec. 31, 2022		Sep. 30, 2022		Jun. 30, 2022		Dec. 31, 2021		Dec. 31, 2022	Dec. 31, 2021	Mar. 31, 2022	Oct. 31, 2021	Sep. 30, 2021	Aug. 31, 2019	Aug. 31, 2017	Aug. 31, 2015	Oct. 31, 2005
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Outstanding stock options								1,200,063								1,200,063		1,453,739
Total share-based compensation								$ 9,063,000						$ 7,050,000		$ 26,516,000	$ 18,685,000
Fair value of options vested																$ 352,000	2,248,000
Stock repurchase program, authorized amount	$ 100,000,000																		$ 60,000,000
Stock repurchased during period, shares								2,103,049
Stock repurchased during period, value								$ 40,000,000	[1]	$ 7,373,000	[2]	$ 2,505,000	[3]	$ 35,874,000	[4]
Weighted-average share repurchase price								$ 19.02		$ 17.21		$ 16.93		$ 16.53
Stock repurchased available during period value								$ 74,303,000
Employee Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Outstanding stock options								1,168,863								1,168,863
Total share-based compensation								$ 3,000						$ 165,000		$ 82,000	1,164,000
Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, non-option equity instruments, outstanding, number								2,758,094								2,758,094
Performance Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total unrecognized compensation costs								$ 16,240,000								$ 16,240,000
Stock option recognized over weighted average period (in years)																2 years 3 months 18 days
Performance Stock Units | Units Granted on September 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures			450,000
Weighted-average grant date fair value			$ 10.52
Performance period			5 years
Award continued service period			3 years
Shares earned and issued in period																24,334
Performance Stock Units | Units Granted On October 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures				408,861
Percentage of shares issued, minimum				8.50%
Percentage of shares issued, maximum				199.50%
Weighted-average grant date fair value				$ 16.25
Percentage of performance stock units tied to fiscal year 2022 revenue goal				80.00%
Vesting period for the 3-year total shareholder return				3 years
Percentage of performance stock units tied to fiscal year 2023 revenue goal				20.00%
Performance Stock Units | Units Granted on October 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures		476,713
Weighted-average grant date fair value		$ 13.02
Award continued service period		3 years
Shares earned and issued in period																33,998
Performance Stock Unit Awards | Units Granted On October 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures					248,140
Percentage of shares issued, minimum					50.00%
Percentage of shares issued, maximum					200.00%
Weighted-average grant date fair value					$ 17.84
Percentage of performance stock units tied to 3-year total shareholder return					34.00%
Percentage of performance stock units tied to fiscal year 2021 revenue					33.00%
Percentage performance stock units tied to fiscal year 2021 adjusted earnings per share goals					33.00%
Performance Stock Unit Awards | Units Granted On December 2019 and January 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures							279,587									0
Percentage of shares issued, minimum							42.50%
Percentage of shares issued, maximum							172.50%
Weighted-average grant date fair value							$ 16.02
Percentage of performance stock units tied to fiscal year 2021 revenue goal							80.00%
Percentage of performance stock units tied to fiscal year 2022 revenue goal							20.00%
Vesting period for the 3-year total shareholder return							3 years
Shares earned and issued in period								157,735
Performance Stock Unit Awards | Units Granted on October 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total share-based compensation								$ 2,532,000						1,720,000		$ 6,906,000	1,678,000
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures	475,337
Percentage of shares issued, minimum	0.00%
Percentage of shares issued, maximum	210.00%
Weighted-average grant date fair value	$ 22.81
Vesting period for the 3-year total shareholder return	3 years
Percentage of performance stock units tied to fiscal year 2025 revenue goal	50.00%
Percentage of performance stock units tied to fiscal year 2025 EBITDA goal	50.00%
Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, non-option equity instruments, outstanding, number								3,482,929								3,482,929		3,242,763
Total share-based compensation								$ 6,404,000						5,070,000		$ 19,055,000	15,417,000
Total unrecognized compensation costs								46,232,000								$ 46,232,000
Stock option recognized over weighted average period (in years)																2 years
Stock awards vested as of vesting								$ 6,325,000						$ 2,736,000		$ 24,530,000	$ 16,946,000
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures																1,811,454
Restricted Stock | Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period																1 year
Restricted Stock | Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period																3 years
Restricted Stock Awards and Performance Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Net share-settled upon vesting								200,012						56,054		545,275	333,598
2005 Employee Stock Option and Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance																								4,800,000
Outstanding stock options								31,200								31,200
2005 Employee Stock Option and Incentive Plan | Employee Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period (in years)																10 years
Share-based compensation award plan , expiration date																May 25, 2015
2015 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance																			1,850,000		3,575,000	6,000,000
Common stock reserved																							11,500,000
Shares available for future grant								653,952								653,952
2015 Plan | Employee Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period (in years)																10 years
Inducement Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance																				1,500,000
Shares available for future grant								141,699								141,699
Inducement Plan | Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, non-option equity instruments, outstanding, number								724,835								724,835
Inducement Plan | Performance Stock Unit Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, non-option equity instruments, outstanding, number								425,666								425,666
Employee Share Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance						4,000,000		2,989,887								2,989,887
Total share-based compensation								$ 124,000						$ 95,000		$ 473,000	$ 425,000
Maximum percentage of gross payroll deduction						15.00%
Purchase price as a percentage of fair market value						90.00%
Maximum shares purchase in a single transaction						1,500
Maximum amount purchased in a calendar year						$ 25,000
Shares issued								1,010,113								1,010,113

[1] Weighted-average repurchase price (dollars per share) for the three months ended December 31, 2022 was $19.02.

[2] Weighted-average repurchase price (dollars per share) for the three months ended September 30, 2022 was $17.21.

[3] Weighted-average repurchase price (dollars per share) for the three months ended June 30, 2022 was $16.93.

[4] Weighted-average repurchase price (dollars per share) for the three months ended December 31, 2021 was $16.53.