Stockholders' Equity - Summary of Outstanding and Vested Options (Details) shares in Thousands	12 Months Ended
	Dec. 31, 2019 $ / shares shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options Outstanding, Number of Shares Outstanding | shares	5,799
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	6 years 9 months 14 days
Options Outstanding, Weighted-Average Exercise Price (in dollars per share)	$ 16.57
Options Exercisable, Number of Shares | shares	2,901
Options Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 12.03
$6.23 - $7.6
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price range, minimum (in dollars per share)	6.23
Exercise price range, maximum (in dollars per share)	$ 7.60000
Options Outstanding, Number of Shares Outstanding | shares	643
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	6 years 4 months 13 days
Options Outstanding, Weighted-Average Exercise Price (in dollars per share)	$ 7.42
Options Exercisable, Number of Shares | shares	392
Options Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 7.40
$7.95 - $10.05
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price range, minimum (in dollars per share)	7.95000
Exercise price range, maximum (in dollars per share)	$ 10.05
Options Outstanding, Number of Shares Outstanding | shares	648
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	4 years 9 months 29 days
Options Outstanding, Weighted-Average Exercise Price (in dollars per share)	$ 9.47
Options Exercisable, Number of Shares | shares	604
Options Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 9.48
$10.13 - $11.95
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price range, minimum (in dollars per share)	10.13
Exercise price range, maximum (in dollars per share)	$ 11.95
Options Outstanding, Number of Shares Outstanding | shares	621
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	5 years 11 months 4 days
Options Outstanding, Weighted-Average Exercise Price (in dollars per share)	$ 10.85
Options Exercisable, Number of Shares | shares	476
Options Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 10.53
$11.96 - $12.32
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price range, minimum (in dollars per share)	11.96
Exercise price range, maximum (in dollars per share)	$ 12.32
Options Outstanding, Number of Shares Outstanding | shares	50
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	1 year 6 months 3 days
Options Outstanding, Weighted-Average Exercise Price (in dollars per share)	$ 12.10
Options Exercisable, Number of Shares | shares	50
Options Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 12.10
$12.45 - $12.45
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price range, minimum (in dollars per share)	12.45
Exercise price range, maximum (in dollars per share)	$ 12.45
Options Outstanding, Number of Shares Outstanding | shares	782
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	7 years 10 months 28 days
Options Outstanding, Weighted-Average Exercise Price (in dollars per share)	$ 12.45
Options Exercisable, Number of Shares | shares	287
Options Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 12.45
$12.46 - $14.3
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price range, minimum (in dollars per share)	12.46
Exercise price range, maximum (in dollars per share)	$ 14.3
Options Outstanding, Number of Shares Outstanding | shares	758
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	3 years 7 months 13 days
Options Outstanding, Weighted-Average Exercise Price (in dollars per share)	$ 13.57
Options Exercisable, Number of Shares | shares	628
Options Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 13.41
$14.5 - $17.88
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price range, minimum (in dollars per share)	14.50
Exercise price range, maximum (in dollars per share)	$ 17.88
Options Outstanding, Number of Shares Outstanding | shares	580
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	6 years 5 months 8 days
Options Outstanding, Weighted-Average Exercise Price (in dollars per share)	$ 16.11
Options Exercisable, Number of Shares | shares	271
Options Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 16.60
$18.09 - $28.18
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price range, minimum (in dollars per share)	18.09
Exercise price range, maximum (in dollars per share)	$ 28.18
Options Outstanding, Number of Shares Outstanding | shares	803
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	8 years 10 months 20 days
Options Outstanding, Weighted-Average Exercise Price (in dollars per share)	$ 24.15
Options Exercisable, Number of Shares | shares	193
Options Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 21.55
$28.23 - $32.37
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price range, minimum (in dollars per share)	28.23
Exercise price range, maximum (in dollars per share)	$ 32.37
Options Outstanding, Number of Shares Outstanding | shares	756
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	9 years 4 months 17 days
Options Outstanding, Weighted-Average Exercise Price (in dollars per share)	$ 29.93
Options Exercisable, Number of Shares | shares	0
Options Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 0
$40.61 - $40.61
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price range, minimum (in dollars per share)	40.61
Exercise price range, maximum (in dollars per share)	$ 40.61
Options Outstanding, Number of Shares Outstanding | shares	158
Options Outstanding, Weighted-Average Remaining Contractual Life (Years)	9 years 5 months 19 days
Options Outstanding, Weighted-Average Exercise Price (in dollars per share)	$ 40.61
Options Exercisable, Number of Shares | shares	0
Options Exercisable, Weighted-Average Exercise Price (in dollars per share)	$ 0