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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, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Shares |  |  |
Beginning Balance (in shares) | 6,706,994 |  |
Granted (in shares) | 1,851,327 |  |
Exercised (in shares) | (504,445) |  |
Forfeited or expired (in shares) | (795,523) |  |
Ending Balance (in shares) | 7,258,353 | 6,706,994 |
Exercisable (in shares) | 4,660,921 |  |
Vested and expected to vest (in shares) | 6,973,272 |  |
Weighted-Average Exercise Price |  |  |
Beginning Balance (in dollars per share) | $ 22.33 |  |
Granted (in dollars per share) | 15.11 |  |
Exercised (in dollars per share) | 10.56 |  |
Forfeited or expired (in dollars per share) | 20.72 |  |
Ending Balance (in dollars per share) | 21.48 | $ 22.33 |
Exercisable (in dollars per share) | 22.92 |  |
Vested and expected to vest (in dollars per share) | $ 21.57 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract] |  |  |
Weighted-average remaining contractual term, Outstanding | 6 years 9 months 18 days | 6 years 10 months 24 days |
Weighted-average remaining contractual term, Exercisable | 5 years 9 months 18 days |  |
Weighted-average remaining contractual term, Vested and expected to vest | 6 years 8 months 12 days |  |
Aggregate intrinsic value, Outstanding | $ 27,409 |  |
Aggregate intrinsic value, Exercisable | 13,906 |  |
Aggregate intrinsic value, Vested and expected to vest | $ 26,011 |  |
Weighted-Average Grant Date Fair Value |  |  |
Common stock, shares issued (in shares) | 504,445 | 219,045 | 274,362
Cash proceeds from exercise of stock options | $ 5,300 | $ 700 | $ 900
Weighted-average grant-date fair value of options granted (in dollars per share) | $ 10.68 | $ 13.98 | $ 17.90
Share-based compensation arrangement by share-based payment award, options, exercises in period, intrinsic value | $ 4,300 | $ 2,900 | $ 5,200
Fair value of shares vested | 16,700 | $ 17,700 | $ 16,400
Unrecognized compensation cost related to non-vested stock-based compensation arrangements | $ 27,500 |  |
Unrecognized compensation expense recognition period | 2 years 4 months 24 days |  |
Stock Incentive Plan 2013 |  |  |
Shares |  |  |
Ending Balance (in shares) | 7,008,394 |  |
Weighted-Average Exercise Price |  |  |
Ending Balance (in dollars per share) | $ 22.14 |  |
Restricted Stock Units |  |  |
Shares |  |  |
Beginning Balance (in shares) | 452,500 |  |
Granted (in shares) | 15,000 |  |
Exercised (in shares) | (210,950) |  |
Forfeited (in shares) | (47,300) |  |
Ending Balance (in shares) | 209,250 | 452,500 |
Weighted-Average Grant Date Fair Value |  |  |
Beginning Balance (in dollars per share) | $ 15.32 |  |
Granted (in dollars per share) | 23.68 |  |
Exercised (in dollars per share) | 15.32 |  |
Forfeited or expired (in dollars per share) | 15.32 |  |
Ending Balance (in dollars per share) | $ 15.92 | $ 15.32 |
Unrecognized compensation expense recognition period | 8 months |  |
Awards granted in period (in shares) | 15,000 |  |
Total unrecognized compensation cost | $ 2,000 |  |

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- Definition Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event. + 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 (c)(2)(iii)(3) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + 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 (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + 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 (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the 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 (c)(2)(iii)(2) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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