Stockholders' Equity - Additional Information (Details) - USD ($)							1 Months Ended	3 Months Ended		9 Months Ended
		Oct. 26, 2021	Sep. 20, 2021	Oct. 26, 2020	Oct. 23, 2018	Aug. 11, 2014	Jan. 27, 2020	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2021	Dec. 31, 2020	Oct. 31, 2021	Mar. 31, 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								1,691,664		1,691,664			2,791,084
Total share-based compensation								$ 7,050,000	$ 5,933,000	$ 18,685,000	$ 16,763,000
Fair value of options vested										$ 2,248,000	3,175,000
Stock repurchase program, authorized amount												$ 60,000,000
Stock repurchased during period, shares								2,169,896
Stock repurchased during period, value	[1]							$ 35,874,000
Weighted average share repurchase price								$ 16.53
Stock repurchased available during period value								$ 24,126,000
7.4% Previously Owned Shareholder
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock repurchased during period, shares								2,000,000
Stock repurchased during period, value								$ 33,100,000
Percentage of shares repurchased on outstanding shares								3.00%
Percentage of shares previously owned								7.40%
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								80,300		80,300
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								2,779,862		2,779,862
Inducement Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance								1,500,000		1,500,000
Shares available for future grant								12,386		12,386
Employee Share Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance						4,000,000		3,145,493		3,145,493
Total share-based compensation								$ 95,000	105,000	$ 425,000	409,000
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								854,507		854,507
Employee Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Outstanding stock options								1,611,364		1,611,364
Total share-based compensation								$ 165,000	603,000	$ 1,164,000	1,962,000
Total unrecognized compensation costs								$ 169,000		$ 169,000
Stock option recognized over weighted average period (in years)										6 months
Employee Stock Options | 2005 Employee Stock Option and Incentive Plan
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
Employee Stock Options | 2015 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expiration period (in years)										10 years
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								2,306,714		2,306,714
Restricted Stock | Inducement Plan
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								1,037,614		1,037,614
Performance Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option recognized over weighted average period (in years)										2 years 4 months 24 days
Total unrecognized compensation costs								$ 14,192,000		$ 14,192,000
Performance Stock Units | Units Granted on September 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total share-based compensation								580,000		630,000
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
Performance Stock Units | Units Granted On October 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total share-based compensation								405,000	429,000	919,000	429,000
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]
Total share-based compensation								590,000		590,000
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
Performance Stock Unit Awards | Units Granted On October 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total share-based compensation								16,000	114,000		343,000
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%
Allocated share-based compensation benefits										359,000
Performance Stock Unit Awards | Units Granted On December 2019 and January 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total share-based compensation								$ 90,000	417,000		1,042,000
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures							279,587
Percentage of shares issued, minimum							42.50%
Percentage of shares issued, maximum							172.50%
Weighted-average grant date fair value							$ 16.02
Allocated share-based compensation benefits										$ 141,000
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
Performance Stock Unit Awards | Inducement Plan
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								450,000		450,000
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								3,344,328		3,344,328			2,263,569
Total share-based compensation								$ 5,070,000	$ 4,203,000	$ 15,417,000	$ 12,392,000
Stock option recognized over weighted average period (in years)										2 years 2 months 12 days
Total unrecognized compensation costs								$ 41,658,000		$ 41,658,000
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures										2,342,578
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

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