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Equity Incentive Plans and Stock-Based Compensation (Details 4)	12 Months Ended
	Dec. 31, 2018 $ / shares shares
Exercise price range 1
Exercise price range
Exercise price range, low end of range (in dollars per share)	$ 4.13
Exercise price range, high end of range (in dollars per share)	$ 5.39
Options Outstanding
Number Outstanding (in shares) | shares	53,584
Weighted Average Remaining Contractual Life (in years)	3 years 7 months 20 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share)	$ 4.43
Options Exercisable
Number Exercisable (in shares) | shares	53,584
Options Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 4.43
Exercise price range 2
Exercise price range
Exercise price range, low end of range (in dollars per share)	5.46
Exercise price range, high end of range (in dollars per share)	$ 5.46
Options Outstanding
Number Outstanding (in shares) | shares	362,014
Weighted Average Remaining Contractual Life (in years)	2 years 2 months 12 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share)	$ 5.46
Options Exercisable
Number Exercisable (in shares) | shares	362,014
Options Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 5.46
Exercise price range 3
Exercise price range
Exercise price range, low end of range (in dollars per share)	5.63
Exercise price range, high end of range (in dollars per share)	$ 5.76
Options Outstanding
Number Outstanding (in shares) | shares	324,773
Weighted Average Remaining Contractual Life (in years)	1 year 11 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share)	$ 5.71
Options Exercisable
Number Exercisable (in shares) | shares	324,773
Options Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 5.71
Exercise price range 4
Exercise price range
Exercise price range, low end of range (in dollars per share)	6.83
Exercise price range, high end of range (in dollars per share)	$ 8.73
Options Outstanding
Number Outstanding (in shares) | shares	275,875
Weighted Average Remaining Contractual Life (in years)	2 years 5 months 19 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share)	$ 7.73
Options Exercisable
Number Exercisable (in shares) | shares	275,875
Options Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 7.73
Exercise price range 5
Exercise price range
Exercise price range, low end of range (in dollars per share)	8.76
Exercise price range, high end of range (in dollars per share)	$ 8.76
Options Outstanding
Number Outstanding (in shares) | shares	540,878
Weighted Average Remaining Contractual Life (in years)	3 years 29 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share)	$ 8.76
Options Exercisable
Number Exercisable (in shares) | shares	540,878
Options Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 8.76
Exercise price range 6
Exercise price range
Exercise price range, low end of range (in dollars per share)	9.53
Exercise price range, high end of range (in dollars per share)	$ 11.93
Options Outstanding
Number Outstanding (in shares) | shares	325,858
Weighted Average Remaining Contractual Life (in years)	4 years 1 month 13 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share)	$ 11.23
Options Exercisable
Number Exercisable (in shares) | shares	319,736
Options Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 11.23
Exercise price range 7
Exercise price range
Exercise price range, low end of range (in dollars per share)	11.93
Exercise price range, high end of range (in dollars per share)	$ 12.31
Options Outstanding
Number Outstanding (in shares) | shares	433,488
Weighted Average Remaining Contractual Life (in years)	5 years 4 months 17 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share)	$ 12.23
Options Exercisable
Number Exercisable (in shares) | shares	289,796
Options Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 12.27
Exercise price range 8
Exercise price range
Exercise price range, low end of range (in dollars per share)	12.46
Exercise price range, high end of range (in dollars per share)	$ 12.84
Options Outstanding
Number Outstanding (in shares) | shares	582,596
Weighted Average Remaining Contractual Life (in years)	7 years 6 months 22 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share)	$ 12.80
Options Exercisable
Number Exercisable (in shares) | shares	215,598
Options Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 12.81
Exercise price range 9
Exercise price range
Exercise price range, low end of range (in dollars per share)	13.60
Exercise price range, high end of range (in dollars per share)	$ 21.95
Options Outstanding
Number Outstanding (in shares) | shares	274,025
Weighted Average Remaining Contractual Life (in years)	4 years 3 months 22 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share)	$ 16.00
Options Exercisable
Number Exercisable (in shares) | shares	211,025
Options Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 16.71
Exercise price range 10
Exercise price range
Exercise price range, low end of range (in dollars per share)	22.72
Exercise price range, high end of range (in dollars per share)	$ 22.72
Options Outstanding
Number Outstanding (in shares) | shares	62,800
Weighted Average Remaining Contractual Life (in years)	9 months 4 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share)	$ 22.72
Options Exercisable
Number Exercisable (in shares) | shares	62,800
Options Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 22.72
Exercise price range 11
Exercise price range
Exercise price range, low end of range (in dollars per share)	4.13
Exercise price range, high end of range (in dollars per share)	$ 22.72
Options Outstanding
Number Outstanding (in shares) | shares	3,235,891
Weighted Average Remaining Contractual Life (in years)	4 years 4 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share)	$ 10.25
Options Exercisable
Number Exercisable (in shares) | shares	2,656,079
Options Exercisable, Weighted Average Exercise Price (in dollars per share)	$ 9.71

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