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Stock Incentive Plan and Other Equity Activity (Details) - USD ($) shares in Thousands, $ in Thousands | 3 Months Ended
--- | ---
Mar. 31, 2021 | Mar. 31, 2020
Sale of Stock [Line Items] |  |
Stock-based compensation expense | $ 1,835 | $ 2,234
Shares withheld for taxes | (5,619) | (772)
Employee Stock Purchase Plan | ESPP |  |
Sale of Stock [Line Items] |  |
Stock-based compensation expense | $ 25 | $ 18
Treasury Stock |  |
Sale of Stock [Line Items] |  |
Shares withheld for taxes (in shares) | (16) | 46
Shares withheld for taxes | $ (296) | $ (668)
Treasury Stock | RSU/PSU |  |
Sale of Stock [Line Items] |  |
Shares withheld for taxes (in shares) | 246 |
Shares withheld for taxes | $ 5,619 |

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