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, 2021				28,095,000
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)
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)				96,000
Issuance of common stock upon the exercise of stock options	813			$ 2	811
Net issuance of restricted stock awards and restricted stock units (in shares)				88,000
Net issuance of restricted stock awards and restricted stock units	1			$ 1
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				28,279,000
Ending balance at Mar. 31, 2022	411,470			$ 565	578,628			(151,535)			(3,192)	$ (12,996)
Treasury stock (in shares) at Mar. 31, 2022												1,226,000
Beginning balance (in shares) at Dec. 31, 2021				28,095,000
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)
Treasury stock (in shares) at Dec. 31, 2021												1,181,000
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Foreign currency translation adjustments	(500)
Net loss	(55,838)
Ending balance (in shares) at Sep. 30, 2022				28,529,000
Ending balance at Sep. 30, 2022	383,086			$ 569	592,100			(191,723)			(4,204)	$ (13,656)
Treasury stock (in shares) at Sep. 30, 2022												1,247,000
Beginning balance (in shares) at Mar. 31, 2022				28,279,000
Beginning balance at Mar. 31, 2022	411,470			$ 565	578,628			(151,535)			(3,192)	$ (12,996)
Treasury stock (in shares) at Mar. 31, 2022												1,226,000
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon the exercise of stock options (in shares)				16,000
Issuance of common stock upon the exercise of stock options	205				205
Net issuance of restricted stock awards and restricted stock units (in shares)				36,000
Net issuance of restricted stock awards and restricted stock units	0
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock (in shares)												12,000
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock	(397)											$ (397)
Stock-based compensation	3,231				3,231
Foreign currency translation adjustments	(161)										(161)
Net loss	(18,848)							(18,848)
Ending balance (in shares) at Jun. 30, 2022				28,331,000
Ending balance at Jun. 30, 2022	395,500			$ 565	582,064			(170,383)			(3,353)	$ (13,393)
Treasury stock (in shares) at Jun. 30, 2022												1,238,000
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon the exercise of stock options (in shares)				17,000
Issuance of common stock upon the exercise of stock options	250			$ 1	249
Net issuance of restricted stock awards and restricted stock units (in shares)				18,000
Net issuance of restricted stock awards and restricted stock units	0
Issuance of common stock for acquisition (in shares)				163,000
Issuance of common stock for acquisition	6,300			$ 3	6,297
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock (in shares)												9,000
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock	(263)											$ (263)
Stock-based compensation	3,490				3,490
Foreign currency translation adjustments	(851)										(851)
Net loss	(21,340)							(21,340)
Ending balance (in shares) at Sep. 30, 2022				28,529,000
Ending balance at Sep. 30, 2022	$ 383,086			$ 569	592,100			(191,723)			(4,204)	$ (13,656)
Treasury stock (in shares) at Sep. 30, 2022												1,247,000
Beginning balance (in shares) at Dec. 31, 2022	27,319,045			28,590,000
Beginning balance at Dec. 31, 2022	$ 375,194			$ 570	595,286			(205,204)			(1,365)	$ (14,093)
Treasury stock (in shares) at Dec. 31, 2022	1,270,522											1,271,000
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon the exercise of stock options (in shares)				5,000
Issuance of common stock upon the exercise of stock options	$ 52				52
Net issuance of restricted stock awards and restricted stock units (in shares)				160,000
Net issuance of restricted stock awards and restricted stock units	2			$ 2
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock (in shares)												79,000
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock	(2,478)											$ (2,478)
Stock-based compensation	3,055				3,055
Foreign currency translation adjustments	(42)										(42)
Net loss	(15,905)							(15,905)
Ending balance (in shares) at Mar. 31, 2023				28,755,000
Ending balance at Mar. 31, 2023	$ 359,878			$ 572	598,393			(221,109)			(1,407)	$ (16,571)
Treasury stock (in shares) at Mar. 31, 2023												1,350,000
Beginning balance (in shares) at Dec. 31, 2022	27,319,045			28,590,000
Beginning balance at Dec. 31, 2022	$ 375,194			$ 570	595,286			(205,204)			(1,365)	$ (14,093)
Treasury stock (in shares) at Dec. 31, 2022	1,270,522											1,271,000
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon the exercise of stock options (in shares)	88,000
Foreign currency translation adjustments	$ (142)
Net loss	$ (51,123)
Ending balance (in shares) at Sep. 30, 2023	27,520,284			28,878,000
Ending balance at Sep. 30, 2023	$ 332,740			$ 574	606,836			(256,327)			(1,507)	$ (16,836)
Treasury stock (in shares) at Sep. 30, 2023	1,357,612											1,358,000
Beginning balance (in shares) at Mar. 31, 2023				28,755,000
Beginning balance at Mar. 31, 2023	$ 359,878			$ 572	598,393			(221,109)			(1,407)	$ (16,571)
Treasury stock (in shares) at Mar. 31, 2023												1,350,000
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon the exercise of stock options (in shares)				9,000
Issuance of common stock upon the exercise of stock options	147				147
Net issuance of restricted stock awards and restricted stock units (in shares)				35,000
Net issuance of restricted stock awards and restricted stock units	0			$ 0
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock (in shares)												6,000
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock	(205)											$ (205)
Stock-based compensation	3,615				3,615
Foreign currency translation adjustments	(1,517)										(1,517)
Net loss	(19,702)							(19,702)
Ending balance (in shares) at Jun. 30, 2023				28,799,000
Ending balance at Jun. 30, 2023	342,216			$ 572	602,155			(240,811)			(2,924)	$ (16,776)
Treasury stock (in shares) at Jun. 30, 2023												1,356,000
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon the exercise of stock options (in shares)				74,000
Issuance of common stock upon the exercise of stock options	711			$ 2	709
Net issuance of restricted stock awards and restricted stock units (in shares)				5,000
Net issuance of restricted stock awards and restricted stock units	0			$ 0
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock (in shares)												2,000
Treasury stock acquired from employees upon vesting or forfeiture of restricted stock	(60)											$ (60)
Stock-based compensation	3,972				3,972
Foreign currency translation adjustments	1,417										1,417
Net loss	$ (15,516)							(15,516)
Ending balance (in shares) at Sep. 30, 2023	27,520,284			28,878,000
Ending balance at Sep. 30, 2023	$ 332,740			$ 574	$ 606,836			$ (256,327)			$ (1,507)	$ (16,836)
Treasury stock (in shares) at Sep. 30, 2023	1,357,612											1,358,000