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Stock Award Plans and Stock Based Compensation (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended 92 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2019
May 02, 2012
Stock-Based Compensation          
Common stock, par value (in dollars per share) $ 0.001 $ 0.001   $ 0.001  
Stock-Based Compensation Expense          
Forfeiture rate (as a percent) 5.00% 5.00% 5.00%    
Stock-based compensation expense $ 8,200 $ 7,800 $ 5,700    
Tax deductions in excess of recognized compensation cost 7,300        
Tax benefit $ 1,500        
Options          
Granted (in shares) 0 0 0    
Shares/units          
Outstanding at the beginning of the period (in shares) 820,000        
Granted (in shares) 681,000        
Vested (in shares) (343,000)        
Forfeited (in shares) (36,000)        
Outstanding at the end of the period (in shares) 1,122,000 820,000   1,122,000  
Weighted-Average Grant Date Fair Value per Share          
Outstanding at the beginning of the period (in dollars per share) $ 18.76        
Granted (in dollars per share) 17.08        
Vested (in dollars per share) 17.42        
Forfeited (in dollars per share) 18.79        
Outstanding at the end of the period (in dollars per share) $ 18.15 $ 18.76   $ 18.15  
Common Stock          
Employee Stock Purchase Plan          
Number of shares purchased under the plan 54,000 55,000 34,000    
Options          
Exercised (in shares) (775,000) (273,000) (2,358,000)    
Employee stock purchase plan          
Stock-Based Compensation          
Number of shares of common stock available for future grant 200,000     200,000  
Employee Stock Purchase Plan          
Purchase price as a percentage of the market value of a common stock on the day the stock is purchased 85.00%        
Offering period over which compensation expense is amortized 6 months        
Stock-Based Compensation Expense          
Stock-based compensation expense $ 200 $ 200 $ 100    
Employee stock purchase plan | Maximum          
Employee Stock Purchase Plan          
Payroll deductions as a percentage of employee's salary 10.00%        
Number of shares purchased under the plan 100,000 100,000 100,000    
Restricted Stock Units and Restricted Stock          
Weighted-Average Grant Date Fair Value per Share          
Granted (in dollars per share)   $ 22.41 $ 20.72    
Restricted Stock Units and Restricted Stock | Employees          
Stock-Based Compensation          
Vesting period 4 years        
Restricted Stock Units and Restricted Stock | Non-employee members of Board of Directors          
Stock-Based Compensation          
Vesting period 6 months        
Stock Options          
Options          
Outstanding at the beginning of the period (in shares) 2,285,000        
Exercised (in shares) (775,000)        
Canceled (in shares) (1,000)        
Expired (in shares) (3,000)        
Outstanding at the end of the period (in shares) 1,506,000 2,285,000   1,506,000  
Exercisable (in shares) 1,496,000     1,496,000  
Options Vested or Expected to Vest at the end of the period (in shares) 1,506,000     1,506,000  
Weighted Average Exercise Price          
Outstanding at the beginning of the period (in dollars per share) $ 8.12        
Exercised (in dollars per share) 6.59        
Canceled (in dollars per share) 12.04        
Expired (in dollars per share) 3.72        
Outstanding at the end of the period (in dollars per share) 8.92 $ 8.12   $ 8.92  
Exercisable at the end of the period (in dollars per share) 8.89     8.89  
Options Vested or Expected to Vest at the end of the period (in dollars per share) $ 8.91     $ 8.91  
Weighted Average Remaining Contractual Term          
Outstanding at the end of the period 1 year 8 months 1 day        
Exercisable at the end of the period 1 year 7 months 28 days        
Options Vested or Expected to Vest at the end of the period 1 year 8 months 9 days        
Aggregate Intrinsic Value          
Outstanding at the end of the period (in dollars) $ 22,856     $ 22,856  
Exercisable at the end of the period (in dollars) 22,760     22,760  
Options Vested or Expected to Vest at the end of the period (in dollars) 22,852     22,852  
Additional disclosure          
Total intrinsic value of options exercised (in dollars) 10,900 $ 4,100 $ 39,700    
Total fair value of stock options vested (in dollars) 900 $ 1,900 $ 3,100    
Total forfeiture adjusted unrecognized compensation cost (in dollars) $ 100     $ 100  
Weighted-average period over which unrecognized compensation cost is expected to be recognized 10 months 24 days        
Stock Options | Employees          
Stock-Based Compensation          
Vesting period 4 years        
Period after termination to exercise awards that were vested 90 days        
Period after termination to retiring employees to exercise vested awards 1 year        
Stock Options | Non-employee members of Board of Directors          
Stock-Based Compensation          
Vesting period 6 months        
Restricted Stock          
Shares/units          
Granted (in shares) 0 0 0    
Vested (in shares) 0 0 0    
2000 Stock Plan          
Stock-Based Compensation          
Awards granted (in shares)       0  
Number of shares of common stock available for future grant 0     0  
2000 Stock Plan | Stock Options          
Stock-Based Compensation          
Expiration period 10 years        
2012 Equity Incentive Plan          
Stock-Based Compensation          
Number of shares of common stock originally reserved for future grant         9,500,000
Common stock, par value (in dollars per share)         $ 0.001
Number of shares of common stock available for future grant 2,700,000     2,700,000  
2012 Equity Incentive Plan | Restricted Stock Units and Restricted Stock          
Additional disclosure          
Total forfeiture adjusted unrecognized compensation cost (in dollars) $ 14,200     $ 14,200  
Weighted-average period over which unrecognized compensation cost is expected to be recognized 2 years 7 months 6 days        
2012 Equity Incentive Plan | Stock Options          
Stock-Based Compensation          
Expiration period 7 years        
2012 Equity Incentive Plan | Restricted Stock          
Shares/units          
Granted (in shares) 0 0 0