Consolidated Statements of Stockholders' Equity - USD ($) $ in Thousands	Total	Cumulative effect of accounting change	Common Stock	Paid-In Capital	Accumulated Other Comprehensive Loss	Retained Earnings	Retained Earnings Cumulative effect of accounting change	Treasury Stock
Beginning balance at Dec. 31, 2018	$ 569,681		$ 1,064	$ 617,276	$ (67,673)	$ 148,802		$ (129,788)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net loss	(12,946)					(12,946)
Employee stock options, restricted stock and employee stock purchase plan	(425)		3	(8,290)		(1,737)		9,599
Stock-based compensation expense	11,640			11,640
Treasury shares purchased at cost	(19,031)							(19,031)
Foreign currency translation, net of tax	(274)				(274)
Recognition of Brazil cumulative foreign currency translation losses	0
Ending balance at Dec. 31, 2019	548,645	$ (735)	1,067	620,626	(67,947)	134,119	$ (735)	(139,220)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net loss	(80,696)					(80,696)
Employee stock options, restricted stock and employee stock purchase plan	465		9	(173)		(1,751)		2,380
Stock-based compensation expense	6,578			6,578
Foreign currency translation, net of tax	2,086				2,086
Recognition of Brazil cumulative foreign currency translation losses	11,689				11,689
Ending balance at Dec. 31, 2020	488,032		1,076	627,031	(54,172)	50,937		(136,840)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net loss	(25,526)					(25,526)
Employee stock options, restricted stock and employee stock purchase plan	(738)		17	(28)		(1,066)		339
Stock-based compensation expense	7,926			7,926
Foreign currency translation, net of tax	(7,308)				(7,308)
Recognition of Brazil cumulative foreign currency translation losses	0
Ending balance at Dec. 31, 2021	$ 462,386		$ 1,093	$ 634,929	$ (61,480)	$ 24,345		$ (136,501)