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Equity Incentive Plans and Stock-Based Compensation (Details 2) - Options
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2020
USD ($)
$ / shares
shares
Number of Shares  
Outstanding, at the beginning of the period | shares 1,639,146
Options granted | shares 0
Options exercised | shares (387,662)
Options forfeited | shares (57,586)
Outstanding, at the end of the period | shares 1,193,898
Vested or expected to vest at the end of the period | shares 1,190,813
Options exercisable at the end of the period | shares 942,307
Weighted Average Exercise Price  
Outstanding at the beginning of the period | $ / shares $ 11.37
Options granted | $ / shares 0
Options exercised | $ / shares 10.34
Options forfeited | $ / shares 18.71
Outstanding at the end of the period | $ / shares 11.35
Vested or expected to vest at the end of the period | $ / shares 11.34
Options exercisable at the end of the period | $ / shares $ 10.93
Weighted Average Remaining Contractual Term (in years)  
Outstanding 5 years 18 days
Vested or expected to vest 5 years 14 days
Options exercisable 4 years 2 months 15 days
Aggregate Intrinsic Value  
Outstanding | $ $ 1,393
Vested or expected to vest | $ 1,393
Options exercisable | $ $ 1,393