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Stock Incentive Plan and Other Equity Activity (Details) shares in Thousands, $ in Thousands | 3 Months Ended
--- | ---
Mar. 31, 2020 USD ($) shares | Mar. 31, 2019 USD ($) shares
Sale of Stock [Line Items] |  |
Stock-based compensation expense | $ | $ 2,234 | $ 1,021
Shares withheld for taxes (in shares) | shares | 46 |
Shares withheld for taxes | $ | $ (772) | (564)
Shares issued from warrants | shares | 110 |
Number of warrants exercised | shares | 470 |
Fair value of warrants exercised | $ | $ 1,477 |
Employee Stock Purchase Plan | ESPP |  |
Sale of Stock [Line Items] |  |
Stock-based compensation expense | $ | $ 18 | $ 0
Remaining authorized shares available for purchase (in shares) | shares | 774 |
Treasury Stock |  |
Sale of Stock [Line Items] |  |
Shares withheld for taxes (in shares) | shares | 46 | 45
Shares withheld for taxes | $ | $ (668) | $ (564)

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