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Stockholders' Equity - Additional Information (Details) |  |  | 1 Months Ended | 3 Months Ended | 22 Months Ended |  |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Jan. 14, 2020 shares | Nov. 06, 2018 $ / shares shares | Dec. 31, 2019 USD ($) $ / shares shares | Dec. 31, 2019 USD ($) $ / shares shares | Dec. 31, 2018 USD ($) $ / shares | Dec. 31, 2019 USD ($) $ / shares shares | Dec. 13, 2019 USD ($) | Sep. 30, 2019 $ / shares shares | Feb. 28, 2019 | Oct. 23, 2018 $ / right $ / shares shares | Mar. 07, 2018 shares | Mar. 10, 2017 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Unrecognized compensation expense | $ |  |  | $ 20,300,000 | $ 20,300,000 |  | $ 20,300,000 |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized (in years) |  |  |  | 2 years 8 months 12 days |  |  |  |  |  |  |  |
Purchase of common stock (in shares) |  |  | 1,660,584 | 1,660,584 |  | 1,660,584 |  | 1,686,902 |  |  |  |
Discount rate from market price, purchase date |  |  |  | 0.15 |  |  |  |  |  |  |  |
Recognized compensation expense | $ |  |  |  | $ 2,303,000 | $ 2,670,000 |  |  |  |  |  |  |
Total intrinsic value of options exercised | $ |  |  |  | $ 100,000 | $ 800,000 |  |  |  |  |  |  |
Weighted average fair value of options granted (in dollars per share) | $ / shares |  |  |  |  | $ 4.35 |  |  |  |  |  |  |
Amount authorized and approved under share repurchase program | $ |  |  |  |  |  |  | $ 10,000,000 |  |  |  |  |
Number of shares repurchased under share repurchase program (in shares) |  |  | 0 |  |  |  |  |  |  |  |  |
Preferred stock, par value (in dollars per share) | $ / shares |  |  | $ 0.001 | $ 0.001 |  | $ 0.001 |  | $ 0.001 |  | $ 0.001 |  |
Percentage of common stock outstanding for acquiring person under right agreement |  |  |  |  |  |  |  |  | 4.90% |  |  |
Series B Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Number of preferred share purchase right for each share of common stock (in shares) |  |  |  |  |  |  |  |  |  | 1 |  |
Preferred stock, share conversion ratio |  |  |  |  |  |  |  |  |  | 0.001000 |  |
Preferred stock, purchase price per right (in dollars per right) | $ / right |  |  |  |  |  |  |  |  |  | 35.00 |  |
Preferred stock, redemption price per share (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  |  | $ 0.0001 |  |
RSUs |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized (in years) |  |  |  | 2 years 9 months 18 days |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  |  | 2,745,222 | 2,745,222 |  | 2,745,222 |  | 2,352,487 |  |  |  |
Recognized compensation expense | $ |  |  |  | $ 1,700,000 | $ 2,000,000.0 |  |  |  |  |  |  |
Unrecognized compensation expense related to nonvested awards | $ |  |  | $ 16,600,000 | $ 16,600,000 |  | $ 16,600,000 |  |  |  |  |  |
Stock options |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized (in years) |  |  |  | 2 years 9 months 18 days |  |  |  |  |  |  |  |
Recognized compensation expense | $ |  |  |  | $ 200,000 | 200,000 |  |  |  |  |  |  |
Unrecognized compensation expense related to outstanding stock options | $ |  |  | 1,800,000 | 1,800,000 |  | 1,800,000 |  |  |  |  |  |
Performance RSUs |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Unrecognized compensation expense | $ |  |  | 400,000 | $ 400,000 |  | 400,000 |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized (in years) |  |  |  | 1 year |  |  |  |  |  |  |  |
Performance Options | Chief Executive Officer |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Unrecognized compensation expense | $ |  |  | $ 1,500,000 | $ 1,500,000 |  | $ 1,500,000 |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized (in years) |  |  |  | 1 year 9 months 18 days |  |  |  |  |  |  |  |
Number of common stock reserved for future grants (in shares) |  | 800,000 |  |  |  |  |  |  |  |  |  |
Recognized compensation expense | $ |  |  |  | $ 200,000 | 100,000 |  |  |  |  |  |  |
Exercise price per share (in dollars per share) | $ / shares |  | $ 9.50 |  |  |  |  |  |  |  |  |  |
Vesting period of awards |  | 3 years |  |  |  |  |  |  |  |  |  |
2012 Plan |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  |  |  |  |  |  |  |  |  |  | 9,500,000
Purchase of common stock (in shares) |  |  | 1,153,890 | 1,153,890 |  | 1,153,890 |  |  |  |  |  |
Number of common stock reserved for future grants (in shares) |  |  | 65,197 | 65,197 |  | 65,197 |  |  |  |  |  |
2012 Plan | RSUs |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  |  | 2,173,754 | 2,173,754 |  | 2,173,754 |  |  |  |  |  |
2012 Plan | Performance RSUs |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  |  | 1,722,551 | 1,722,551 |  | 1,722,551 |  |  |  |  |  |
Recognized compensation expense | $ |  |  |  | $ 200,000 | 200,000 |  |  |  |  |  |  |
2012 Plan | Performance RSUs | Subsequent Event |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Stock performance shares cancelled (in shares) | 1,722,551 |  |  |  |  |  |  |  |  |  |  |
Stock performance shares resulting in vesting (in shares) | 0 |  |  |  |  |  |  |  |  |  |  |
Prior Plans |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Purchase of common stock (in shares) |  |  | 289,515 | 289,515 |  | 289,515 |  |  |  |  |  |
ESPP |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  | 799,086 | 799,086 |  | 799,086 |  |  |  |  | 1,000,000 |
Shares issued to participants pursuant to employee stock purchase plan (in shares) |  |  |  |  |  | 200,914 |  |  |  |  |  |
Recognized compensation expense | $ |  |  |  | $ 100,000 | $ 100,000 |  |  |  |  |  |  |
Director Plan |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  |  |  |  |  |  |  |  |  |  | 1,500,000
Number of common stock reserved for future grants (in shares) |  |  | 269,999 | 269,999 |  | 269,999 |  |  |  |  |  |
Director Plan | RSUs |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Purchase of common stock (in shares) |  |  | 488,572 | 488,572 |  | 488,572 |  |  |  |  |  |
Minimum | ESPP |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Discount rate from market price, offering date |  |  |  | 15.00% |  |  |  |  |  |  |  |

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