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Stock Based Compensation - Stock Option Activity (Details) - Employee Stock Option - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Number of options outstanding    
Number of options outstanding, beginning balance (in shares) 853,399  
Number of options, granted (in shares) 0  
Number of options exercised (in shares) (593,084)  
Number of options, forfeited or cancelled (in shares) (5,315)  
Number of options outstanding, ending balance (in shares) 255,000 853,399
Options vested and exercisable (in shares) 223,883  
Options vested and expected to vest (in shares) 254,826  
Weighted- average exercise price (per share)    
Weighted-average exercise price, beginning balance (in usd per share) $ 8.07  
Weighted-average exercise price, granted (in usd per share) 0  
Weighted-average exercise price, exercised (in usd per share) 6.87  
Weighted-average exercise price, forfeited or cancelled (in usd per share) 10.30  
Weighted-average exercise price, ending balance (in usd per share) 10.82 $ 8.07
Weighted-average exercise price, options vested and exercisable (in usd per share) 9.99  
Weighted average exercise price, options vested and expected to vest (in usd per share) $ 10.82  
Weighted-average remaining contract life, options outstanding (in years) 4 years 5 months 1 day 3 years 4 months 28 days
Weighted-average remaining contract life, options vested and exercisable (in years) 4 years 1 month 9 days  
Weighted average remaining contract life, options vested and expected to vest 4 years 4 months 28 days  
Aggregate intrinsic value, options outstanding $ 36,426 $ 47,770
Aggregate intrinsic value, options exercised 54,088  
Aggregate intrinsic value, options vested and exercisable 32,168  
Aggregate intrinsic value, options vested and expected to vest $ 36,403