CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Statement of Financial Position [Abstract]
Property and equipment, accumulated depreciation	$ 101,364	$ 96,937
Intangible assets, accumulated amortization	$ 14,604	$ 19,900
Preferred stock, par value (usd per share)	$ 0.001	$ 0.001
Preferred stock, authorized (shares)	5,000,000	5,000,000
Preferred stock, issued (shares)	0	0
Preferred stock, outstanding (shares)	0	0
Common stock, par value (usd per share)	$ 0.001	$ 0.001
Common stock, authorized (shares)	60,000,000	60,000,000
Common stock, issued (shares)	37,891,186	37,674,868
Common stock, outstanding (shares)	32,518,278	32,509,969
Treasury stock at cost (shares)	5,372,908	5,164,899