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Stock Incentive Plan and Other Equity Activity (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2021 | Mar. 31, 2021 | Jun. 30, 2020 | Mar. 31, 2020 | Jun. 30, 2021 | Jun. 30, 2020
Sale of Stock [Line Items] |  |  |  |  |  |
Stock-based compensation expense | $ 2,015 |  | $ 3,962 |  | $ 3,850 | $ 6,196
Shares withheld for taxes |  | $ (5,619) | (50) | $ (772) |  |
Employee Stock Purchase Plan | ESPP |  |  |  |  |  |
Sale of Stock [Line Items] |  |  |  |  |  |
Stock-based compensation expense | $ 22 |  | $ 18 |  | $ 47 | $ 36
Treasury Stock |  |  |  |  |  |
Sale of Stock [Line Items] |  |  |  |  |  |
Shares withheld for taxes (in shares) |  | 16,000 | 3,000 | 46,000 |  |
Shares withheld for taxes |  | $ (296) | $ (32) | $ (668) |  |
Treasury Stock | RSU/PSU |  |  |  |  |  |
Sale of Stock [Line Items] |  |  |  |  |  |
Shares withheld for taxes (in shares) | 0 |  |  |  | 246,000 |
Shares withheld for taxes | $ 0 |  |  |  | $ 5,619 |

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