CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY - USD ($) $ in Thousands	Total	Cumulative Effect, Period of Adoption, Adjustment	Cumulative Effect, Period of Adoption, Adjusted Balance	2024 Notes	2026 Notes	2027 Notes	Common Stock	Capital in Excess of Par Value	Capital in Excess of Par Value Cumulative Effect, Period of Adoption, Adjustment	Capital in Excess of Par Value Cumulative Effect, Period of Adoption, Adjusted Balance	Capital in Excess of Par Value 2024 Notes	Capital in Excess of Par Value 2026 Notes	Capital in Excess of Par Value 2027 Notes	(Accumulated Deficit) Retained Earnings	(Accumulated Deficit) Retained Earnings Cumulative Effect, Period of Adoption, Adjustment	(Accumulated Deficit) Retained Earnings Cumulative Effect, Period of Adoption, Adjusted Balance	Accumulated Other Comprehensive Income (Loss)	Treasury Stock	Treasury Stock 2024 Notes
Balance (in shares) at Dec. 31, 2019							18,360,000
Balance at Dec. 31, 2019	$ 72,847						$ 367	$ 94,372						$ (10,144)			$ (5,368)	$ (6,380)
Treasury stock (in shares) at Dec. 31, 2019																		1,731,000
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon the exercise of stock options (in shares)							47,000
Issuance of common stock upon the exercise of stock options	675						$ 1	674
Net issuance of restricted stock awards (in shares)							29,000
Net issuance of restricted stock awards	835						$ 1	834
Net issuance of restricted stock units (in shares)							23,000
Issuance of restricted stock for acquisition (in shares)							908,000
Issuance of restricted stock for acquisition	18						$ 18
Stock-based compensation	4,251							4,251
Treasury stock acquired from employees upon exercise of stock options (in shares)																		(57,000)
Treasury stock acquired from employees upon exercise of stock options	(1,186)							(143)										$ (1,043)
Equity component of redeemed 2024 convertible notes (net of deferred taxes of $3.0 million) (in shares)																			722,000
Equity component of redeemed 2024 convertible notes (net of deferred taxes of $3.0 million)				$ (4,372)							$ (6,808)								$ 2,436
Proceeds from public share offering, net of issuance costs (in shares)							3,616,000
Proceeds from public share offering, net of issuance costs	131,407				$ 19,060		$ 72	131,335				$ 19,060
Foreign currency translation adjustments	1,432																1,432
Net loss	(36,562)													(36,562)
Balance (in shares) at Dec. 31, 2020							22,983,000
Balance at Dec. 31, 2020	$ 188,405						$ 459	243,575						(46,706)			(3,936)	$ (4,987)
Treasury stock (in shares) at Dec. 31, 2020																		1,066,000
Accounting Standards Update [Extensible Enumeration]	Accounting Standards Update 2020-06 [Member]
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon the exercise of stock options (in shares)							105,000
Issuance of common stock upon the exercise of stock options	$ 1,156						$ 2	1,154
Net issuance of restricted stock awards (in shares)							2,000
Net issuance of restricted stock units (in shares)							176,000
Net issuance of restricted stock units	372						$ 4	368
Issuance of restricted stock for acquisition (in shares)							1,493,000
Issuance of restricted stock for acquisition	110,219						$ 30	110,189
Stock-based compensation	14,615							14,615
Treasury stock acquired from employees upon exercise of stock options (in shares)																		(115,000)
Treasury stock acquired from employees upon exercise of stock options	(5,958)																	$ (5,958)
Proceeds from public share offering, net of issuance costs (in shares)							3,335,000
Proceeds from public share offering, net of issuance costs	208,172					$ 62,931	$ 67	208,105					$ 62,931
Foreign currency translation adjustments	232																232
Net loss	$ (75,799)													(75,799)
Balance (in shares) at Dec. 31, 2021	26,924,397						28,094,000
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)
Treasury stock (in shares) at Dec. 31, 2021																		1,181,000
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon the exercise of stock options (in shares)	135,000						133,000
Issuance of common stock upon the exercise of stock options	$ 1,286						$ 3	1,283
Net issuance of restricted stock awards (in shares)							200,000
Net issuance of restricted stock awards	1						$ 2	(1)
Issuance of restricted stock for acquisition (in shares)							163,000
Issuance of restricted stock for acquisition	6,300						$ 3	6,297
Stock-based compensation	13,426							13,426
Treasury stock acquired from employees upon exercise of stock options (in shares)																		(90,000)
Treasury stock acquired from employees upon exercise of stock options	(3,148)																	$ (3,148)
Foreign currency translation adjustments	2,339																2,339
Net loss	$ (69,319)													(69,319)
Balance (in shares) at Dec. 31, 2022	27,319,045						28,590,000
Balance at Dec. 31, 2022	$ 375,194						$ 570	$ 595,286						$ (205,204)			$ (1,365)	$ (14,093)
Treasury stock (in shares) at Dec. 31, 2022																		1,271,000