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Stockholders' Equity - Stock Options Outstanding Rollforward (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Number of Options
Outstanding at December 31 (in shares)	1,624	1,276
Granted (in shares)	654	630
Exercised (in shares)	(110)	(37)
Expired, canceled or forfeited (in shares)	(134)	(245)
Outstanding at December 31 (in shares)	2,034	1,624
Exercisable at December 31 (in shares)	611	440
Options vested or expected to vest, number of option (in shares)	2,034	1,624
Weighted Average Exercise Price
Outstanding at December 31 (in dollars per share)	$ 9.86	$ 10.28
Granted (in dollars per share)	8.12	9.48
Exercised (in dollars per share)	8.02	7.89
Expired, canceled or forfeited (in dollars per share)	12.14	11.35
Outstanding at December 31 (in dollars per share)	9.25	9.86
Exercisable at December 31 (in dollars per share)	9.83	10.26
Options vested or expected to vest, weighted average exercise price (in shares)	$ 9.25	$ 9.86
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Stock options, Outstanding, Weighted Average Remaining Contractual Life	3 years 2 months 15 days	3 years 3 months
Options vested or expected to vest, Weighted Average Remaining Contractual Life	3 years 2 months 15 days	3 years 3 months
Stock options, Exercisable, Weighted Average Remaining Contractual Life	2 years 2 months 8 days	2 years 25 days
Stock options, Outstanding, Aggregate Intrinsic Value	$ 4,288	$ 2,325
Stock options, Exercisable, Aggregate Intrinsic Value	939	572
Options vested or expected to vest, Aggregate Intrinsic Value	$ 4,288	$ 2,325

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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