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Stockholders' Equity and Stock Incentive Plans (Details) - USD ($)
3 Months Ended 9 Months Ended
Jan. 01, 2020
Sep. 30, 2020
Mar. 31, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Mar. 12, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Common stock repurchase, authorized   $ 0     $ 0    
2015 Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Common stock available for grants of awards (in shares)   1,497,182     1,497,182    
Number of shares available for grant annual increase (in shares) 1,066,403            
Option              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Share-based compensation expense, net   $ 500,000   $ 800,000 $ 1,600,000 $ 4,200,000  
Stock Options, unrecognized share-based compensation expense   500,000   2,800,000 $ 500,000 $ 2,800,000  
Share-based compensation expense not yet recognized, weighted-average period for recognition         4 months 24 days 1 year 2 months 12 days  
Performance Stock Units (PSUs)              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Share-based compensation expense, net   1,100,000   700,000 $ 1,800,000 $ 1,400,000  
Share-based compensation expense not yet recognized, weighted-average period for recognition         2 years 1 month 6 days 2 years 2 months 12 days  
Number of PSUs granted to each recipient, eligible to vest (in shares)         62,791    
Number of PSUs granted to each recipient, vested (in shares)         5,254    
Unamortized share-based compensation expense   4,000,000.0   4,100,000 $ 4,000,000.0 $ 4,100,000  
Performance Stock Units (PSUs) | 2018 Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of PSUs granted to each recipient, eligible to vest (in shares) 108,957   76,722        
Number of PSUs granted to each recipient, vested (in shares)     5,254        
Restricted Stock Units (RSUs)              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Share-based compensation expense, net   1,900,000   1,100,000 $ 4,000,000.0 $ 3,100,000  
Share-based compensation expense not yet recognized, weighted-average period for recognition         2 years 1 month 6 days 2 years 7 months 6 days  
Number of PSUs granted to each recipient, vested (in shares)         308,222    
Unamortized share-based compensation expense   $ 7,900,000   $ 7,600,000 $ 7,900,000 $ 7,600,000  
Maximum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Common stock repurchase, authorized             $ 25,000,000.0