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Stockholders' Equity - Additional Information (Details)			1 Months Ended	3 Months Ended		22 Months Ended
Stockholders' Equity - Additional Information (Details)	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%