Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2019	Dec. 31, 2018
Statement of Financial Position [Abstract]
Accounts receivable, allowance for doubtful accounts	$ 1,527	$ 1,190
Cumulative convertible preferred stock, at par value (in dollars per share)	$ 0.0001	$ 0.0001
Cumulative convertible preferred stock, shares authorized (in shares)	100,000	100,000
Cumulative convertible preferred stock, shares issued (in shares)	0	0
Cumulative convertible preferred stock, shares outstanding (in shares)	0	0
Common stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Common stock, shares authorized (in shares)	80,000,000	80,000,000
Common stock, shares issued (in shares)	63,656,897	62,162,875
Common stock, shares outstanding (in shares)	57,882,396	57,342,279
Treasury stock, shares (in shares)	4,145,481	3,770,224