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Equity Incentive Plans and Stock-Based Compensation (Details 2) - Options - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2018
Jun. 30, 2019
Jun. 30, 2018
Number of Shares      
Outstanding, at the beginning of the period (in shares)   3,235,891  
Options granted (in shares) 100,000 0 600,000
Options exercised (in shares)   (924,619)  
Options forfeited (in shares)   (346,687)  
Outstanding, at the end of the period (in shares)   1,964,585  
Vested or expected to vest at the end of the period (in shares)   1,948,806  
Options exercisable at the end of the period (in shares)   1,535,956  
Weighted Average Exercise Price      
Outstanding at the beginning of the year (in dollars per shares)   $ 10.25  
Options granted (in dollars per share)   0  
Options exercised (in dollars per share)   7.44  
Options forfeited (in dollars per share)   13.86  
Outstanding at the end of the period (in dollars per shares)   10.93  
Vested or expected to vest at the end of the period (in dollars per share)   10.92  
Options exercisable at the end of the period (in dollars per share)   $ 10.46  
Weighted Average Remaining Contractual Term      
Outstanding   5 years 2 months 12 days  
Vested or expected to vest   5 years 2 months 4 days  
Options exercisable   4 years 4 months 2 days  
Aggregate Intrinsic Value      
Outstanding   $ 3,703  
Vested or expected to vest   3,703  
Options exercisable   $ 3,703