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Equity Plans - Activity (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Options Outstanding      
Options Outstanding, Beginning balance 3,681,521    
Options Outstanding, Options granted 1,536,400    
Options Outstanding, Options exercised (294,238)    
Options Outstanding, Options forfeited (275,563)    
Options Outstanding, Ending balance 4,648,120 3,681,521  
Options Outstanding, Options exercisable 2,619,943    
Options Outstanding, Options vested and expected to vest 4,648,120    
Weighted-Average Exercise Price Per Share      
Weighted-Average Exercise Price Per Share, Beginning balance $ 11.64    
Weighted-Average Exercise Price Per Share, Options granted 11.53    
Weighted-Average Exercise Price Per Share, Options exercised 7.49    
Weighted-Average Exercise Price Per Share, Options forfeited 11.54    
Weighted-Average Exercise Price Per Share, Ending balance 11.87 $ 11.64  
Weighted-Average Exercise Price Per Share, Options exercisable 12.10    
Weighted-Average Exercise Price Per Share, Options vested and expected to vest $ 11.87    
Weighted-Average Remaining Contractual Life (years)      
Weighted-Average Remaining Contractual Life (years) 7 years 7 months 9 days 7 years 9 months 10 days  
Weighted-Average Remaining Contractual Life (years), Options exercisable 6 years 7 months 24 days    
Weighted-Average Remaining Contractual Life (years), Options vested and expected to vest 7 years 7 months 9 days    
Aggregate Intrinsic Value      
Aggregate Intrinsic Value, Options Outstanding $ 40.0 $ 2.4  
Aggregate Intrinsic Value, Options exercisable 22.1    
Aggregate Intrinsic Value, Options vested and expected to vest 40.0    
Aggregate intrinsic value of options exercised $ 3.0 $ 2.6 $ 1.3
Options, weighted-average grant-date fair value $ 7.76 $ 5.45 $ 8.12