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Employee Benefit Plans and Stock-based Compensation - Options (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Options [Member] |  |  |  |
Number of Options Outstanding [Roll Forward] |  |  |  |
Options outstanding, beginning of period (in shares) | 1,885,000 | 2,953,000 | 2,654,000 |
Granted (in shares) |  |  | 430,000 |
Exercised (in shares) | (507,000) | (905,000) | (113,000) |
Canceled and expired (in shares) |  | (163,000) | (18,000) |
Options outstanding, end of period (in shares) | 1,378,000 | 1,885,000 | 2,953,000 | 2,654,000
Options vested and unvested options expected to vest, net of forfeitures, end of period (in shares) | 1,374,000 |  |  |
Options exercisable, end of period (in shares) | 1,100,000 |  |  |
Weighted-average Exercise Price [Roll Forward] |  |  |  |
Options outstanding, beginning of period (in dollars per share) | $ 4.42 | $ 4.00 | $ 4.09 |
Granted (in dollars per share) |  |  | 3.06 |
Exercised (in dollars per share) | 3.30 | 2.80 | 2.37 |
Canceled and expired (in dollars per share) |  | 5.85 | 4.47 |
Options outstanding, end of period (in dollars per share) | 4.83 | $ 4.42 | $ 4.00 | $ 4.09
Options vested and unvested options expected to vest, net of forfeitures (in dollars per share) | 4.83 |  |  |
Options exercisable, end of period (in dollars per share) | $ 5.14 |  |  |
Weighted average Remaining Contractual Life [Abstract] |  |  |  |
Options outstanding | 5 years 7 months 6 days | 6 years 2 months 1 day | 5 years 11 months 12 days | 6 years 3 months 10 days
Options vested and unvested options expected to vest, net of forfeitures, end of period | 5 years 7 months 6 days |  |  |
Option exercisable, end of period | 5 years 1 month 2 days |  |  |
Aggregate Intrinsic Value [Abstract] |  |  |  |
Options outstanding, beginning of period | $ 9,713,000 | $ 3,040,000 | $ 2,720,000 |
Exercised | 3,700,000 | 3,200,000 | 266,000 |
Options outstanding, end of period | 5,573,000 | $ 9,713,000 | $ 3,040,000 | $ 2,720,000
Options vested and expected to vest, end of period | 5,549,000 |  |  |
Options exercisable, end of period | 4,120,000 |  |  |
2015 Equity Incentive Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Compensation costs related to unvested stock options not yet recognized | 400,000 |  |  |
Value of estimated forfeitures | $ 41,000 |  |  |
Weighted-average period of amortization | 1 year 7 months 6 days |  |  |

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- Definition Amount of cost to be recognized for option under share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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