Equity Incentive Plans - Options Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Summary of the activity of stock option awards, shares
Options outstanding, Beginning Balance (in Shares)	1,462
Options granted (in shares)	391
Options exercised (in Shares)	(78)
Options forfeited/canceled (in Shares)	(185)
Options outstanding, Ending Balance (in Shares)	1,590	1,462
Options vested and expected to vest (in Shares)	1,521
Options exercisable (in Shares)	809
Summary of the activity of stock option awards, weighted average exercise price
Options outstanding, Beginning Balance, Wtd. Avg. Exercise Price (in dollars per share)	$ 24.30
Options granted, Wtd. Avg. Exercise Price (in dollars per share)	22.68
Options exercised, Wtd. Avg. Exercise Price (in dollars per share)	16.03
Options forfeited/canceled/expired, Wtd. Avg. Exercise Price (in dollars per share)	24.60
Options outstanding, Ending Balance, Wtd. Avg. Exercise Price (in dollars per share)	24.29	$ 24.30
Options vested and expected to vest, Wtd. Average Exercise Price (in dollars per share)	24.34
Options exercisable, Wtd. Avg. Exercise Price (in dollars per share)	$ 24.84
Options outstanding, Ending Balance, Wtd. Avg. Remaining Contractual Term	6 years 10 months 24 days	7 years 2 months 12 days
Options vested and expected to vest, Wtd. Avg Remaining Contractual Term	6 years 9 months 25 days
Options exercisable, Wtd. Avg. Remaining Contractual Term	5 years 6 months 10 days
Options outstanding, Beginning Balance, Average Intrinsic Value	$ 232	$ 924
Options vested and expected to vest, Aggregate Intrinsic Value	232
Options exercisable, Aggregate Intrinsic Value	232
Intrinsic value of options exercised	433	519	$ 4,126
Fair value of shares vested	$ 971	$ 794	$ 373