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Equity Incentive Plans and Stock-Based Compensation - Summary of Activity under Stock Option Plans (Details) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2020 USD ($) $ / shares shares
Number of Shares (thousands)
Outstanding options, Beginning balance (in shares) | shares	3,702
Granted (in shares) | shares	0
Exercised (in shares) | shares	(1,298)
Canceled (in shares) | shares	(731)
Outstanding options, Ending balance (in shares) | shares	1,673
Vested and exercisable (in shares) | shares	1,673
Weighted-Average Exercise Price Per Share
Beginning balance (in dollars per share)	$ 5.57
Granted (in dollars per share)	0
Exercised (in dollars per share)	4.85
Canceled (in dollars per share)	7.15
Ending balance (in dollars per share)	5.44
Vested and exercisable at end of period (in dollars per share)	$ 5.44
Weighted-average remaining contractual term (in years)	2 years 8 months 1 day
Weighted average remaining contractual term, Vested and exercisable at end of period (in years)	2 years 8 months 1 day
Aggregate Intrinsic Value | $	$ 7,520
Aggregate Intrinsic Value, Vested and exercisable at end of period | $	$ 7,520
Closing price (in dollars per share)	$ 9.86
Document Period End Date	Dec. 31, 2020

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The end date of the period reflected on the cover page if a periodic report. For all other reports and registration statements containing historical data, it is the date up through which that historical data is presented. If there is no historical data in the report, use the filing date. The format of the date is YYYY-MM-DD.

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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.

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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 exercisable or convertible options. 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 exercisable options that may 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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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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