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Stock-Based Compensation - Options (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Aggregate Intrinsic Value [Abstract]          
Closing price (in dollars per share) $ 6.12   $ 6.12    
Options          
Number of Options Outstanding [Roll Forward]          
Options outstanding, beginning of period (in shares)     2,953,000    
Granted (in shares) 0 0 0 0  
Exercised (in shares)     (460,000)    
Canceled and expired (in shares)     (162,000)    
Options outstanding, end of period (in shares) 2,331,000   2,331,000   2,953,000
Options vested and unvested options expected to vest, net of forfeitures, end of period (in shares) 2,313,000   2,313,000    
Options exercisable, end of period (in shares) 1,703,000   1,703,000    
Weighted-average Exercise Price [Roll Forward]          
Options outstanding, beginning of period (in dollars per share)     $ 4.00    
Exercised (in dollars per share)     2.47    
Canceled and expired (in dollars per share)     5.83    
Options outstanding, end of period (in dollars per share) $ 4.18   4.18   $ 4.00
Options vested and unvested options expected to vest, net of forfeitures (in dollars per share) 4.18   4.18    
Options exercisable, end of period (in dollars per share) $ 4.20   $ 4.20    
Weighted average Remaining Contractual Life [Abstract]          
Options outstanding     5 years 10 months 20 days   5 years 11 months 12 days
Options vested and unvested options expected to vest, net of forfeitures, end of period     5 years 10 months 13 days    
Option exercisable, end of period     4 years 10 months 17 days    
Aggregate Intrinsic Value [Abstract]          
Options outstanding, beginning of period     $ 3,040    
Options outstanding, end of period $ 5,061   5,061   $ 3,040
Options vested and expected to vest, end of period 5,012   5,012    
Options exercisable, end of period $ 3,675   $ 3,675