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Stock-Based Plans - Stock-Based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total stock-based compensation $ 4,357 $ 3,029 $ 10,358 $ 8,292
Employee stock purchase plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total stock-based compensation 243 291 800 561
Restricted stock units, stock options and performance share units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total stock-based compensation $ 4,114 $ 2,738 $ 9,558 $ 7,731