CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Property and equipment, accumulated depreciation	$ 93,909	$ 101,364
Intangible assets, accumulated amortization	$ 12,838	$ 14,604
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)	38,065,853	37,891,186
Common stock, outstanding (shares)	32,633,599	32,511,465
Treasury stock at cost (shares)	5,432,254	5,379,721