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Equity Incentive Plans and Stock-Based Compensation (Details 3) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Nov. 14, 2017
Aggregate Intrinsic Value        
Share Price       $ 14.56
Options        
Number of Shares        
Outstanding, at the beginning of the period (in shares) 3,235,891 4,310,361 7,008,833  
Options granted (in shares) 80,000 711,479 558,426  
Options exercised (in shares) (1,249,785) (908,146) (1,278,856)  
Options forfeited (in shares) (426,960) (877,803) (1,978,042)  
Outstanding, at the end of the period (in shares) 1,639,146 3,235,891 4,310,361  
Vested or expected to vest at the end of the period (in shares) 1,627,218      
Options exercisable at the end of the period (in shares) 1,319,210      
Weighted Average Exercise Price        
Outstanding at the beginning of the year (in dollars per shares) $ 10.25 $ 9.78 $ 9.34  
Options granted (in dollars per share) 13.25 12.84 12.95  
Options exercised (in dollars per share) 7.79 6.70 7.34  
Options forfeited (in dollars per share) 13.71 13.73 10.68  
Outstanding at the end of the period (in dollars per shares) 11.37 $ 10.25 $ 9.78  
Vested or expected to vest at the end of the period (in dollars per share) 11.36      
Options exercisable at the end of the period (in dollars per share) $ 11.01      
Weighted Average Remaining Contractual Term (in years)        
Outstanding (in years) 4 years 6 months 14 days      
Vested or expected to vest (in years) 4 years 5 months 26 days      
Options exercisable (in years) 3 years 7 months 17 days      
Aggregate Intrinsic Value        
Outstanding $ 4,631      
Vested or expected to vest 4,621      
Options exercisable $ 4,327