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Equity - Changes in Shareholders' Equity (Details) - USD ($)
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Balance at beginning of period $ 186,031,000 $ 87,432,000
Exercise of common stock options 4,102,000 4,454,000
Issuance for employee stock purchase plan 358,000 357,000
Shares withheld for employee taxes upon vesting of restricted stock units   (1,358,000)
Shares withheld for employee taxes upon vesting of RSUs and PSUs (3,508,000)  
Stock-based compensation 6,879,000 4,951,000
Equity component of 2020 Convertible Notes, net of issuance costs of $1,773   44,777,000
Equity component of transaction costs for 2020 Convertible Notes   1,773,000
Net income 15,662,000 450,000
Balance at end of period 170,035,000 141,063,000
Adjustment    
Balance at end of period (39,489,000)  
Common Stock    
Balance at beginning of period $ 35,000 $ 34,000
Balance at beginning of year, shares 34,612,054 33,678,840
Exercise of common stock options $ 289,164  
Exercise of common stock options, shares   455,573
Issuance for employee stock purchase plan, shares 24,630 39,411
Vesting of restricted stock units ("RSUs") and performance share units ("PSUs"), shares 413,538 195,280
Shares withheld for employee taxes upon vesting of restricted stock units, shares   (63,064)
Shares withheld for employee taxes upon vesting of RSUs and PSUs (135,562)  
Balance at end of period $ 35,000 $ 34,000
Balance at end of year, shares 35,203,824 34,306,040
Additional Paid-In Capital    
Balance at beginning of period $ 519,143,000 $ 447,297,000
Exercise of common stock options 4,102,000 4,454,000
Issuance for employee stock purchase plan 358,000 357,000
Shares withheld for employee taxes upon vesting of restricted stock units   (1,358,000)
Shares withheld for employee taxes upon vesting of RSUs and PSUs (3,508,000)  
Stock-based compensation 6,879,000 4,951,000
Equity component of 2020 Convertible Notes, net of issuance costs of $1,773   44,777,000
Balance at end of period 482,197,000 500,478,000
Additional Paid-In Capital | Adjustment    
Balance at end of period (44,777,000)  
Accumulated Deficit    
Balance at beginning of period (333,147,000) (359,899,000)
Net income 15,662,000 450,000
Balance at end of period (312,197,000) $ (359,449,000)
Accumulated Deficit | Adjustment    
Balance at end of period $ 5,288,000