CONSOLIDATED STATEMENTS OF SHAREHOLDERS’ EQUITY - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in Capital	Accumulated Deficit
Beginning balance (in shares) at Dec. 31, 2019		39,590,000
Beginning balance at Dec. 31, 2019	$ 132,153	$ 396	$ 311,618	$ (179,861)
Increase (Decrease) in Stockholders' Equity
Stock-based compensation	8,470		8,470
Issuance of restricted and performance stock units (in shares)		249,000
Issuance of restricted and performance stock units	0	$ 2	(2)
Shares surrendered by employees to pay tax withholdings (in shares)		(40,000)
Shares surrendered by employees to pay tax withholdings	(670)		(670)
Exercise of stock options and employee stock purchase plan (in shares)		572,000
Exercise of stock options and employee stock purchase plan	3,300	$ 6	3,294
Exercise of Credit Facility Option, net of settlement (in shares)		248,000
Exercise of Credit Facility Option, net of settlement	3,682	$ 2	3,680
Net loss	(23,786)			(23,786)
Ending balance (in shares) at Dec. 31, 2020		40,619,000
Ending balance at Dec. 31, 2020	123,149	$ 406	326,390	(203,647)
Increase (Decrease) in Stockholders' Equity
Stock-based compensation	10,919		10,919
Issuance of restricted and performance stock units (in shares)		254,000
Issuance of restricted and performance stock units	0	$ 2	(2)
Exercise of stock options and employee stock purchase plan (in shares)		864,000
Exercise of stock options and employee stock purchase plan	5,467	$ 9	5,458
Net loss	$ (26,985)			(26,985)
Ending balance (in shares) at Dec. 31, 2021	41,736,950	41,737,000
Ending balance at Dec. 31, 2021	$ 112,550	$ 417	342,765	(230,632)
Increase (Decrease) in Stockholders' Equity
Stock-based compensation	15,591		15,591
Issuance of restricted and performance stock units (in shares)		343,000
Issuance of restricted and performance stock units	0	$ 3	(3)
Exercise of stock options and employee stock purchase plan (in shares)		365,000
Exercise of stock options and employee stock purchase plan	1,806	$ 4	1,802
Net loss	$ (28,948)			(28,948)
Ending balance (in shares) at Dec. 31, 2022	42,445,517	42,445,000
Ending balance at Dec. 31, 2022	$ 100,999	$ 424	$ 360,155	$ (259,580)