CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Statement of Financial Position [Abstract]
Accounts receivable, allowance for doubtful accounts	$ 1,316	$ 1,527
Preferred stock, par value (in dollars per share)	$ 0.0001	$ 0.0001
Preferred stock. shares authorized (in shares)	100,000	100,000
Preferred stock, shares issued (in shares)	0	0
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)	140,000,000	140,000,000
Common stock, shares issued (in shares)	78,669,414	63,656,897
Common stock, shares outstanding (in shares)	73,088,494	59,511,416
Treasury stock, shares (in shares)	5,580,920	4,145,481