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Shareholders' Equity - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Number of Shares Subject to Options
Number of Shares, Beginning balance (shares)	605	678	1,172
Number of Shares, Options assumed (shares)	175
Number of Shares, Options exercised (shares)	(7)	(42)	(427)
Number of Shares, Options canceled / forfeited / expired (shares)	(136)	(31)	(67)
Number of Shares, Ending balance (shares)	637	605	678
Vested and expected to vest, number of shares subject to options	636
Exercisable, number of shares subject to options	620
Weighted Average Exercise Price Per Share
Weighted Average Exercise Price Per Share, Beginning balance (USD per share)	$ 26.68	$ 26.39	$ 24.06
Weighted Average Exercise Price Per Share, Options assumed (USD per share)	50.96
Weighted Average Exercise Price Per Share, Options exercised (USD per share)	13.47	16.66	18.75
Weighted Average Exercise Price Per Share, Options canceled / forfeited / expired (USD per share)	44.59	33.61	34.43
Weighted Average Exercise Price Per Share, Ending balance (USD per share)	$ 29.59	$ 26.68	$ 26.39
Weighted Average Remaining Contractual Life and Aggregate Intrinsic Value
Weighted Average Remaining Contractual Life (in years)	2 years 8 months 1 day
Vested and expected to vest, weighted average remaining contractual life (in years)	2 years 7 months 28 days
Exercisable, weighted average remaining contractual life (in years)	2 years 6 months 21 days
Aggregate Intrinsic Value	$ 458
Vested and expected to vest, aggregate intrinsic value	458
Exercisable, aggregate intrinsic value	$ 458

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired.

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Weighted average price of options that were either forfeited or expired.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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