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Stock Incentive Plan and Other Equity Activity (Details) - USD ($) shares in Thousands, $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2020 | Mar. 31, 2020 | Jun. 30, 2019 | Mar. 31, 2019 | Jun. 30, 2020 | Jun. 30, 2019
Sale of Stock [Line Items] |  |  |  |  |  |
Stock-based compensation expense | $ 3,962 |  | $ 649 |  | $ 6,196 | $ 1,670
Shares withheld for taxes | $ (50) | $ (772) | $ (98) | $ (564) |  |
Shares issued from warrants | 110 |  |  |  | 110 |
Number of warrants exercised | 470 |  |  |  | 470 |
Fair value of warrants exercised |  |  |  |  | $ 1,477 |
Employee Stock Purchase Plan | ESPP |  |  |  |  |  |
Sale of Stock [Line Items] |  |  |  |  |  |
Stock-based compensation expense | $ 18 |  |  |  | $ 36 |
Remaining authorized shares available for purchase (in shares) | 762 |  |  |  | 762 |
Treasury Stock |  |  |  |  |  |
Sale of Stock [Line Items] |  |  |  |  |  |
Shares withheld for taxes (in shares) | 3 | 46 |  | 45 | 49 |
Shares withheld for taxes | $ (32) | $ (668) |  | $ (564) | $ (700) |

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