Stock Based Compensation - Share Based Compensation Activity (Details) shares in Thousands	6 Months Ended
	Jun. 30, 2021 $ / shares shares
Options outstanding
Beginning balance (in shares) | shares	957
Granted (in shares) | shares	563
Exercised (in shares) | shares	(54)
Canceled/forfeited (in shares) | shares	(63)
Ending balance (in shares) | shares	1,403
Weighted average exercise price
Beginning balance (in dollars per share) | $ / shares	$ 14.29
Granted (in dollars per share) | $ / shares	7.79
Exercised (in dollars per share) | $ / shares	10.70
Canceled/forfeited (in dollars per share) | $ / shares	13.64
Ending balance (in dollars per share) | $ / shares	$ 11.83
Restricted Stock Awards
Restricted Stock and RSU Awards Outstanding
Beginning balance (in shares) | shares	61
Granted (in shares) | shares	2
Vested (in shares) | shares	(34)
Forfeited and cancelled (in shares) | shares	(1)
Beginning balance (in shares) | shares	28
Weighted average award value
Beginning balance (in dollars per share) | $ / shares	$ 25.62
Granted (in dollars per share) | $ / shares	22.36
Vested (in dollars per share) | $ / shares	24.81
Forfeited and canceled (in dollars per share) | $ / shares	20.94
Ending balance (in dollars per share) | $ / shares	$ 26.51
RSU Awards
Restricted Stock and RSU Awards Outstanding
Beginning balance (in shares) | shares	427
Granted (in shares) | shares	149
Vested (in shares) | shares	(115)
Forfeited and cancelled (in shares) | shares	(4)
Beginning balance (in shares) | shares	457
Weighted average award value
Beginning balance (in dollars per share) | $ / shares	$ 15.46
Granted (in dollars per share) | $ / shares	67.24
Vested (in dollars per share) | $ / shares	17.08
Forfeited and canceled (in dollars per share) | $ / shares	66.82
Ending balance (in dollars per share) | $ / shares	$ 31.39