Employee Stock Plans - Schedule of Stock Options Award Activity (Details) shares in Thousands	3 Months Ended
	Mar. 31, 2021 $ / shares shares
Stock Option Activity
Outstanding at beginning of period (in shares) | shares	1,820
Granted (in shares) | shares	0
Exercised or released (in shares) | shares	(397)
Expired or canceled (in shares) | shares	0
Outstanding at end of period (in shares) | shares	1,423
Exercisable at end of period (in shares) | shares	978
Stock Option Weighted Average Exercise Price Per Share
Outstanding at beginning of period (in dollars per share) | $ / shares	$ 15.02
Granted (in dollars per share) | $ / shares	0
Exercised or released (in dollars per share) | $ / shares	11.10
Expired or canceled (in dollars per share) | $ / shares	0
Outstanding at end of period (in dollars per share) | $ / shares	16.12
Exercisable at end of period (in dollars per share) | $ / shares	$ 15.19