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Equity - Statement of Stockholders' Equity (Details) - USD ($)
shares in Thousands, $ in Thousands
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Increase (Decrease) in Stockholders' Equity    
Balance at the beginning of the period $ 408,374 $ 374,512
Net income (loss) 2,494 (567)
Other comprehensive income (loss), net of tax (19) 153
Share-based compensation expense 3,237 3,646
Net issuance under employee stock plans (1,625) (680)
Balance at the end of the period 412,461 377,064
Common Stock    
Increase (Decrease) in Stockholders' Equity    
Balance at the beginning of the period $ 497 $ 490
Balance (in shares) 49,724 48,994
Net issuance under employee stock plans $ 5 $ 4
Net issuance under employee stock plans (in shares) 459 434
Balance at the end of the period $ 502 $ 494
Balance (in shares) 50,183 49,428
Additional Paid-in Capital    
Increase (Decrease) in Stockholders' Equity    
Balance at the beginning of the period $ 1,113,352 $ 1,071,058
Share-based compensation expense 3,237 3,646
Net issuance under employee stock plans (1,630) (684)
Balance at the end of the period 1,114,959 1,074,020
Accumulated Deficit    
Increase (Decrease) in Stockholders' Equity    
Balance at the beginning of the period (707,321) (698,930)
Net income (loss) 2,494 (567)
Balance at the end of the period (704,827) (699,497)
Accumulated Other Comprehensive Income    
Increase (Decrease) in Stockholders' Equity    
Balance at the beginning of the period 1,846 1,894
Other comprehensive income (loss), net of tax (19) 153
Balance at the end of the period $ 1,827 $ 2,047