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Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2020 | Sep. 30, 2019
Stock-based compensation expense by type of award: |  |  |  |
Stock-based compensation expense | $ 2,050 | $ 1,565 | $ 6,111 | $ 6,930
Stock Option Plan Awards |  |  |  |
Stock-based compensation expense by type of award: |  |  |  |
Stock-based compensation expense |  | 590 | 709 | 2,513
Restricted stock units and restricted stock awards |  |  |  |
Stock-based compensation expense by type of award: |  |  |  |
Stock-based compensation expense | 1,878 | 834 | 4,853 | 3,882
Employee Stock Purchase Plan |  |  |  |
Stock-based compensation expense by type of award: |  |  |  |
Stock-based compensation expense | $ 172 | $ 141 | $ 549 | $ 535

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