Equity Incentive Plans - Options by Exercise Price (Details)	12 Months Ended
	Dec. 31, 2020 $ / shares shares
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Options outstanding, number outstanding (in shares) | shares	1,951
Options outstanding, Wtd. Avg. remaining contractual life	6 years 7 months 13 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share)	$ 22.07
Options exercisable, Number exercisable (in shares) | shares	1,051
Options exercisable Wtd. Avg. Remaining Contractual Life	5 years 1 month 17 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share)	$ 24.53
0-18.23
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Lower range limit, Exercise price (in dollars per share)	0
Upper range limit, Exercise price (in dollars per share)	$ 18.23
Options outstanding, number outstanding (in shares) | shares	552
Options outstanding, Wtd. Avg. remaining contractual life	7 years 6 months 3 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share)	$ 14.62
Options exercisable, Number exercisable (in shares) | shares	109
Options exercisable Wtd. Avg. Remaining Contractual Life	8 months 26 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share)	$ 14.53
18.24-22.26
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Lower range limit, Exercise price (in dollars per share)	18.24
Upper range limit, Exercise price (in dollars per share)	$ 22.26
Options outstanding, number outstanding (in shares) | shares	588
Options outstanding, Wtd. Avg. remaining contractual life	6 years 1 month 13 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share)	$ 20.99
Options exercisable, Number exercisable (in shares) | shares	417
Options exercisable Wtd. Avg. Remaining Contractual Life	5 years 7 months 17 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share)	$ 20.74
22.27-29.39
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Lower range limit, Exercise price (in dollars per share)	22.27
Upper range limit, Exercise price (in dollars per share)	$ 29.39
Options outstanding, number outstanding (in shares) | shares	495
Options outstanding, Wtd. Avg. remaining contractual life	6 years 6 months 18 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share)	$ 25.11
Options exercisable, Number exercisable (in shares) | shares	272
Options exercisable Wtd. Avg. Remaining Contractual Life	5 years 2 months 19 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share)	$ 27.11
29.40-50.00
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Lower range limit, Exercise price (in dollars per share)	29.4
Upper range limit, Exercise price (in dollars per share)	$ 50.00
Options outstanding, number outstanding (in shares) | shares	316
Options outstanding, Wtd. Avg. remaining contractual life	6 years 1 month 13 days
Options outstanding, Wtd. Avg. exercise price (in dollars per share)	$ 32.27
Options exercisable, Number exercisable (in shares) | shares	253
Options exercisable Wtd. Avg. Remaining Contractual Life	6 years 1 month 9 days
Options exercisable, Wtd. Avg. exercise price (in dollars per share)	$ 32.27