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Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2018 | Jun. 30, 2017 | Jun. 30, 2018 | Jun. 30, 2017
Stock-based compensation expense by type of award: |  |  |  |
Stock-based compensation expense | $ 3,186 | $ 2,216 | $ 6,567 | $ 4,107
Stock Option Plan Awards |  |  |  |
Stock-based compensation expense by type of award: |  |  |  |
Stock-based compensation expense | 1,548 | 2,055 | 3,500 | 3,799
Restricted stock units and restricted stock awards |  |  |  |
Stock-based compensation expense by type of award: |  |  |  |
Stock-based compensation expense | 1,416 | 24 | 2,654 | 48
Employee Stock Purchase Plan |  |  |  |
Stock-based compensation expense by type of award: |  |  |  |
Stock-based compensation expense | $ 222 | $ 137 | $ 413 | $ 260

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