CONDENSED CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY - USD ($) $ in Thousands	Total	Cumulative Effect, Period of Adoption, Adjustment	Cumulative Effect, Period of Adoption, Adjusted Balance	Common Stock	Additional Paid in Capital	Additional Paid in Capital Cumulative Effect, Period of Adoption, Adjustment	Additional Paid in Capital Cumulative Effect, Period of Adoption, Adjusted Balance	Accumulated Deficit	Accumulated Deficit Cumulative Effect, Period of Adoption, Adjustment	Accumulated Deficit Cumulative Effect, Period of Adoption, Adjusted Balance	Accumulated Other Comprehensive Income (Loss)	Treasury Stock
Beginning Balance (in shares) at Dec. 31, 2020				22,983,000								1,066,000
Beginning Balance at Dec. 31, 2020	$ 188,405			$ 459	$ 243,575			$ (46,706)			$ (3,936)	$ (4,987)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon the exercise of stock options (in shares)				34,000
Issuance of common stock upon the exercise of stock options	409			$ 1	408
Net issuance of restricted stock awards (in shares)				87,000
Net issuance of restricted stock awards and restricted stock units	265			$ 2	263
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock (in shares)												76,000
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock	(3,974)											$ (3,974)
Stock-based compensation	1,320				1,320
Foreign currency translation adjustments	(302)										(302)
Net loss	(8,271)							(8,271)
Ending Balance (in shares) at Mar. 31, 2021				23,104,000								1,142,000
Ending Balance at Mar. 31, 2021	$ 177,852			$ 462	245,566			(54,977)			(4,238)	$ (8,961)
Beginning Balance (in shares) at Dec. 31, 2021	26,924,397			28,095,000								1,181,000
Beginning Balance at Dec. 31, 2021	$ 504,345	$ (80,036)	$ 424,309	$ 562	640,937	$ (66,656)	$ 574,281	(122,505)	$ (13,380)	$ (135,885)	(3,704)	$ (10,945)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon the exercise of stock options (in shares)	96,000			96,000
Issuance of common stock upon the exercise of stock options	$ 813			$ 2	811
Net issuance of restricted stock awards (in shares)				88,000
Net issuance of restricted stock awards and restricted stock units	1			$ 1	0
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock (in shares)												45,000
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock	(2,051)											$ (2,051)
Stock-based compensation	3,536				3,536
Foreign currency translation adjustments	512										512
Net loss	$ (15,650)							(15,650)
Ending Balance (in shares) at Mar. 31, 2022	27,052,454			28,279,000								1,226,000
Ending Balance at Mar. 31, 2022	$ 411,470			$ 565	$ 578,628			$ (151,535)			$ (3,192)	$ (12,996)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Accounting Standards Update [Extensible Enumeration]	Accounting Standards Update 2020-06 [Member]