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Stock- based Compensation - Stock Option and Restricted Stock Unit Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]      
Shares, Outstanding, Beginning balance (in shares) 4,146,064    
Shares, Granted (in shares) 399,949    
Shares, Exercised or RSUs vested (in shares) (526,715) (374,214) (568,906)
Shares, Forfeited or expired (in shares) (181,238)    
Shares, Outstanding, Ending balance (in shares) 3,838,060 4,146,064  
Shares, Exercisable (in shares) 2,292,923    
Shares, Vested and expected to vest (in shares) 3,651,523    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures and Expirations in Period, Weighted Average Exercise Price [Abstract]      
Weighted-average exercise price, Outstanding, Beginning balance (in dollars per share) $ 16.90    
Weighted-average exercise price, Granted (in dollars per share) 23.20    
Weighted-average exercise price, Exercised or RSUs vested(in dollars per share) 3.59    
Weighted-average exercise price, Forfeited or expired (in dollars per share) 26.53    
Weighted-average exercise price, Outstanding, Ending balance (in dollars per share) 18.93 $ 16.90  
Weighted-average exercise price, Exercisable (in dollars per share) 13.71    
Weighted-average exercise price, Vested and expected to vest (in dollars per share) $ 18.57    
Weighted-average remaining contractual term, Outstanding 7 years 7 years 4 months 24 days  
Weighted-average remaining contractual term, Exercisable 6 years 1 month 6 days    
Weighted-average remaining contractual term, Vested and expected to vest 7 years    
Aggregate intrinsic value, Outstanding, Ending balance $ 24,862    
Aggregate intrinsic value, Exercisable 22,458    
Aggregate intrinsic value, Vested and expected to vest $ 24,496    
Common stock, shares issued (in shares) 526,715 374,214 568,906
Cash proceeds from exercise of stock options $ 1,893 $ 911 $ 744
Weighted-average grant-date fair value of options granted (in dollars per share) $ 15.17 $ 20.90 $ 17.41
Share-based compensation arrangement by share-based payment award, options, exercises in period, intrinsic value $ 10,800 $ 10,900 $ 14,500
Fair value of shares vested 11,600 $ 7,300 $ 3,000
Unrecognized compensation cost related to non-vested stock-based compensation arrangements $ 22,200    
Unrecognized compensation expense recognition period 2 years 6 months