Equity Incentive Plans - Summary of Options Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Summary of the activity of stock option awards, shares
Options outstanding, Beginning Balance (in Shares)	1,590,000
Options granted (in shares)	480,000	400,000	500,000
Options forfeited/canceled (in shares)	(119,000)
Options outstanding, Ending Balance (in Shares)	1,951,000	1,590,000
Options vested and expected to vest (in Shares)	1,869,000
Options exercisable (in Shares)	1,051,000
Summary of the activity of stock option awards, weighted average exercise price
Options outstanding, Beginning Balance, Wtd. Avg. Exercise Price (in dollars per share)	$ 24.29
Options granted, Wtd. Avg. Exercise Price (in dollars per share)	14.64
Options forfeited/canceled, Wtd. Avg. Exercise Price (in dollars per share)	21.96
Options outstanding, Ending Balance, Wtd. Avg. Exercise Price (in dollars per share)	22.07	$ 24.29
Options vested and expected to vest, Wtd. Average Exercise Price (in dollars per share)	22.27
Options exercisable, Wtd. Avg. Exercise Price (in dollars per share)	$ 24.53
Options outstanding, Ending Balance, Wtd. Avg. Remaining Contractual Term	6 years 7 months 13 days	6 years 10 months 24 days
Options vested and expected to vest, Wtd. Avg Remaining Contractual Term	6 years 6 months 10 days
Options exercisable, Wtd. Avg. Remaining Contractual Term	5 years 1 month 17 days
Options outstanding, Beginning Balance, Average Intrinsic Value	$ 232
Options outstanding, Ending Balance, Average Intrinsic Value		$ 232
Intrinsic value of options exercised		433	$ 519
Fair value of shares vested	$ 1,061	$ 971	$ 794