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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, 2021	Dec. 31, 2020	Dec. 31, 2019
Shares
Beginning Balance (in shares)	7,258,353
Granted (in shares)	1,941,671
Exercised (in shares)	(332,767)
Forfeited or expired (in shares)	(493,336)
Ending Balance (in shares)	8,373,921	7,258,353
Exercisable (in shares)	5,546,382
Vested and expected to vest (in shares)	8,010,695
Weighted-Average Exercise Price
Beginning Balance (in dollars per share)	$ 21.48
Granted (in dollars per share)	20.83
Exercised (in dollars per share)	17.55
Forfeited or expired (in dollars per share)	21.05
Ending Balance (in dollars per share)	21.47	$ 21.48
Exercisable (in dollars per share)	22.61
Vested and expected to vest (in dollars per share)	$ 21.58
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Weighted-average remaining contractual term, Outstanding	6 years 7 months 6 days	6 years 9 months 18 days
Weighted-average remaining contractual term, Exercisable	5 years 7 months 6 days
Weighted-average remaining contractual term, Vested and expected to vest	6 years 6 months
Aggregate intrinsic value, Outstanding	$ 7,841
Aggregate intrinsic value, Exercisable	4,764
Aggregate intrinsic value, Vested and expected to vest	$ 7,468
Weighted-Average Grant Date Fair Value
Common stock, shares issued (in shares)	332,767	504,445	219,045
Cash proceeds from exercise of stock options	$ 5,800	$ 5,300	$ 700
Weighted-average grant-date fair value of options granted (in dollars per share)	$ 15.20	$ 10.68	$ 13.98
Share-based compensation arrangement by share-based payment award, options, exercises in period, intrinsic value	$ 3,300	$ 4,300	$ 2,900
Fair value of shares vested	20,200	$ 16,700	$ 17,700
Unrecognized compensation cost related to non-vested stock-based compensation arrangements	$ 31,100
Unrecognized compensation expense recognition period	2 years 6 months
Stock Incentive Plan 2013
Shares
Ending Balance (in shares)	8,186,378
Weighted-Average Exercise Price
Ending Balance (in dollars per share)	$ 21.90
Restricted Stock Units
Shares
Beginning Balance (in shares)	209,250
Granted (in shares)	16,500
Exercised (in shares)	(184,100)
Forfeited (in shares)	(20,150)
Ending Balance (in shares)	21,500	209,250
Weighted-Average Grant Date Fair Value
Beginning Balance (in dollars per share)	$ 15.92
Granted (in dollars per share)	26.27
Exercised (in dollars per share)	15.66
Forfeited or expired (in dollars per share)	16.04
Ending Balance (in dollars per share)	$ 25.97	$ 15.92
Unrecognized compensation expense recognition period	2 years 3 months 18 days
Awards granted in period (in shares)	16,500
Total unrecognized compensation cost	$ 400

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