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Stockholders' Equity and Stock Plans - Options Outstanding Rollforward (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Number of Shares        
Options outstanding, beginning balance (in shares) 417,382 425,700 517,936  
Granted (in shares) 44,632 53,370 74,096  
Cancelled, expired or forfeited (in shares) (17,222) (13,580) (9,140)  
Exercised (in shares) (73,208) (48,108) (157,192)  
Options outstanding, ending balance (in shares) 371,584 417,382 425,700 517,936
Exercisable (vested), ending balance (in shares) 315,377 333,870 311,050  
Weighted Average Exercise Price        
Options outstanding, beginning balance (in dollars per share) $ 28.01 $ 25.01 $ 20.42  
Granted (in dollars per share) 39.18 44.01 33.97  
Cancelled, expired or forfeited (in dollars per share) 40.31 38.88 28.25  
Exercised (in dollars per share) 22.26 16.11 13.93  
Options outstanding, ending balance (in dollars per share) 29.92 28.01 25.01 $ 20.42
Exercisable (vested), ending balance (in dollars per shares) $ 28.05 $ 25.34 $ 22.57  
Aggregate Intrinsic Value        
Options outstanding, beginning balance $ 7,112 $ 6,910 $ 7,075  
Exercised 1,370 1,247 3,462  
Options outstanding, ending balance 2,262 7,112 6,910 $ 7,075
Exercisable (vested) $ 2,254 $ 6,581 $ 5,809  
Weighted Average Grant-Date Fair Value        
Granted (in dollars per share) $ 6.84 $ 9.37 $ 7.17  
Weighted Average Remaining Contractual Term        
Options outstanding 5 years 1 month 13 days 5 years 6 months 5 years 10 months 6 days 5 years 4 months 2 days
Exercisable (vested) 4 years 6 months 10 days 4 years 9 months 3 days 4 years 11 months 8 days