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Employee Benefit Plans and Stock-based Compensation - Options (Details) - USD ($)
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Options [Member]        
Number of Options Outstanding [Roll Forward]        
Options outstanding, beginning of period (in shares) 1,885,000 2,953,000 2,654,000  
Granted (in shares)     430,000  
Exercised (in shares) (507,000) (905,000) (113,000)  
Canceled and expired (in shares)   (163,000) (18,000)  
Options outstanding, end of period (in shares) 1,378,000 1,885,000 2,953,000 2,654,000
Options vested and unvested options expected to vest, net of forfeitures, end of period (in shares) 1,374,000      
Options exercisable, end of period (in shares) 1,100,000      
Weighted-average Exercise Price [Roll Forward]        
Options outstanding, beginning of period (in dollars per share) $ 4.42 $ 4.00 $ 4.09  
Granted (in dollars per share)     3.06  
Exercised (in dollars per share) 3.30 2.80 2.37  
Canceled and expired (in dollars per share)   5.85 4.47  
Options outstanding, end of period (in dollars per share) 4.83 $ 4.42 $ 4.00 $ 4.09
Options vested and unvested options expected to vest, net of forfeitures (in dollars per share) 4.83      
Options exercisable, end of period (in dollars per share) $ 5.14      
Weighted average Remaining Contractual Life [Abstract]        
Options outstanding 5 years 7 months 6 days 6 years 2 months 1 day 5 years 11 months 12 days 6 years 3 months 10 days
Options vested and unvested options expected to vest, net of forfeitures, end of period 5 years 7 months 6 days      
Option exercisable, end of period 5 years 1 month 2 days      
Aggregate Intrinsic Value [Abstract]        
Options outstanding, beginning of period $ 9,713,000 $ 3,040,000 $ 2,720,000  
Exercised 3,700,000 3,200,000 266,000  
Options outstanding, end of period 5,573,000 $ 9,713,000 $ 3,040,000 $ 2,720,000
Options vested and expected to vest, end of period 5,549,000      
Options exercisable, end of period 4,120,000      
2015 Equity Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Compensation costs related to unvested stock options not yet recognized 400,000      
Value of estimated forfeitures $ 41,000      
Weighted-average period of amortization 1 year 7 months 6 days