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Stockholders' Equity - Narrative (Details) |  | 3 Months Ended | 13 Months Ended |  |  |  |  |  |  |
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Nov. 06, 2018 $ / shares shares | Dec. 31, 2020 USD ($) $ / shares shares | Dec. 31, 2019 USD ($) | Dec. 31, 2020 USD ($) $ / shares shares | Sep. 30, 2020 $ / shares shares | Jan. 31, 2020 shares | Dec. 13, 2019 USD ($) | 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 | $ |  | $ 25,000,000.0 |  | $ 25,000,000.0 |  |  |  |  |  |  |
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) |  | 921,015 |  | 921,015 | 1,162,505 |  |  |  |  |  |
Discount rate from market price, purchase date |  | 0.15 |  |  |  |  |  |  |  |  |
Recognized compensation expense | $ |  | $ 2,747,000 | $ 2,303,000 |  |  |  |  |  |  |  |
Total intrinsic value of options exercised | $ |  | $ 1,500,000 | 100,000 |  |  |  |  |  |  |  |
Amount authorized and approved under share repurchase program | $ |  |  |  |  |  |  | $ 10,000,000 |  |  |  |
Amount of shares repurchased | $ |  |  |  | $ 1,000,000.0 |  |  |  |  |  |  |
Number of shares repurchased (in shares) |  |  |  | 137,000 |  |  |  |  |  |  |
Average price of shares repurchased (in dollars per share) | $ / shares |  |  |  | $ 7.33 |  |  |  |  |  |  |
Preferred stock, par value (in dollars per share) | $ / shares |  | $ 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, par value (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  | $ 0.001 |  |
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) |  | 2,627,825 |  | 2,627,825 | 2,661,943 |  |  |  |  |  |
Recognized compensation expense | $ |  | $ 1,900,000 | 1,700,000 |  |  |  |  |  |  |  |
Unrecognized compensation expense related to nonvested awards | $ |  | 19,200,000 |  | $ 19,200,000 |  |  |  |  |  |  |
Performance RSUs |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Unrecognized compensation expense | $ |  | $ 3,600,000 |  | $ 3,600,000 |  |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized (in years) |  | 2 years 9 months 18 days |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  | 638,321 |  | 638,321 | 353,556 |  |  |  |  |  |
Recognized compensation expense | $ |  | $ 300,000 | 200,000 |  |  |  |  |  |  |  |
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 3 months 18 days |  |  |  |  |  |  |  |  |
Recognized compensation expense | $ |  | $ 200,000 | 200,000 |  |  |  |  |  |  |  |
Unrecognized compensation expense related to outstanding stock options | $ |  | 1,400,000 |  | $ 1,400,000 |  |  |  |  |  |  |
Performance options | Chief Executive Officer |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Unrecognized compensation expense | $ |  | $ 700,000 |  | $ 700,000 |  |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized (in years) |  | 9 months 18 days |  |  |  |  |  |  |  |  |
Number of common stock reserved for future grants (in shares) | 800,000 |  |  |  |  |  |  |  |  |  |
Recognized compensation expense | $ |  | $ 200,000 | 200,000 |  |  |  |  |  |  |  |
Exercise price per share (in dollars per share) | $ / shares | $ 9.50 |  |  |  |  |  |  |  |  |  |
Vesting period of awards | 3 years |  |  |  |  |  |  |  |  |  |
2020 Plan |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  |  |  |  | 4,500,000 |  |  |  |  |
Number of common stock reserved for future grants (in shares) |  | 2,719,465 |  | 2,719,465 |  |  |  |  |  |  |
2020 Plan | RSUs |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  | 975,746 |  | 975,746 |  |  |  |  |  |  |
2020 Plan | Performance RSUs |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  | 638,321 |  | 638,321 |  |  |  |  |  |  |
Prior Plans |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  |  |  |  | 107,903 |  |  |  |  |
Purchase of common stock (in shares) |  | 611,226 |  | 611,226 |  |  |  |  |  |  |
Prior Plans | RSUs |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  | 1,264,921 |  | 1,264,921 |  |  |  |  |  |  |
ESPP |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  | 649,326 |  | 649,326 |  |  |  |  |  | 1,000,000 |
Shares issued to participants pursuant to employee stock purchase plan (in shares) |  | 350,674 |  |  |  |  |  |  |  |  |
Recognized compensation expense | $ |  | $ 100,000 | $ 100,000 |  |  |  |  |  |  |  |
ESPP | Minimum |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Discount rate from market price, offering date |  | 15.00% |  |  |  |  |  |  |  |  |
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) |  | 267,533 |  | 267,533 |  |  |  |  |  |  |
Director Plan | RSUs |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |
Purchase of common stock (in shares) |  | 327,946 |  | 327,946 |  |  |  |  |  |  |

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