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Stock-Based Compensation Expense - Stock-Based Compensation Expense Categorized by Equity Components (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Total stock-based compensation expense | $ 39,135 | $ 31,554 | $ 31,011
Employee stock purchase plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Total stock-based compensation expense | 2,613 | 2,304 | 2,599
Employee stock options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Total stock-based compensation expense | 71 | 219 | 438
Restricted stock awards and units |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Total stock-based compensation expense | $ 36,451 | $ 29,031 | $ 27,974

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