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Summary of Stock Option Activity (Details)
shares in Thousands
 9 Months Ended
Sep. 30, 2021
$ / shares
shares
2010 Plan Activity [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Shares available for grant options, beginning of period
Number of options outstanding, beginning of period 1,218
Weighted average exercise price, options outstanding, beginning of period | $ / shares $ 3.55
Shares available for grant options exercised
Number of options outstanding, options exercised (159)
Weighted average exercise price, options exercised | $ / shares $ 2.26
Shares available for grant options forfeited, cancelled and expired
Number of options outstanding, options forfeited, cancelled and expired 8
Weighted average exercise price, options forfeited, cancelled and expired | $ / shares $ 3.15
Shares available for grant outstanding, end of period
Number of options outstanding, end of period 1,067
Weighted average exercise price, outstanding end of period | $ / shares $ 3.71
Number of options outstanding, exercisable, end of period 1,067
Weighted average exercise price, exercisable, end of period | $ / shares $ 3.71
Number of options outstanding, options forfeited, cancelled and expired (8)
Two Thousand Eighteen Plan Activity [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Shares available for grant options, beginning of period 3,346
Number of options outstanding, beginning of period 7,212
Weighted average exercise price, options outstanding, beginning of period | $ / shares $ 2.60
Shares available for grant options exercised
Number of options outstanding, options exercised (727)
Weighted average exercise price, options exercised | $ / shares $ 2.99
Shares available for grant options forfeited, cancelled and expired 592
Number of options outstanding, options forfeited, cancelled and expired 592
Weighted average exercise price, options forfeited, cancelled and expired | $ / shares $ 3.26
Shares available for grant outstanding, end of period 9,097
Number of options outstanding, end of period 10,638
Weighted average exercise price, outstanding end of period | $ / shares $ 3.63
Number of options outstanding, exercisable, end of period 3,354
Weighted average exercise price, exercisable, end of period | $ / shares $ 2.59
Number of RSUs Outstanding, beginning of period 201
Shares available for grant options RSUs vested
Number of options outstanding, option RSUs vested
Number of RSUs Outstanding, option RSUs vested (201)
Shares available for grant options RSUs granted (96)
Number of options outstanding, option RSUs granted
Number of RSUs Outstanding, option RSUs granted 96
Weighted average exercise price, option RSUs granted | $ / shares
Shares available for options increase from plan amendment 10,000
Number of options outstanding, options increase from plan amendment
Number of RSUs Outstanding, options increase from plan amendment
Shares available for grant options granted (4,745)
Number of options outstanding, option granted 4,745
Number of RSUs Outstanding, option granted
Weighted average exercise price, option granted | $ / shares $ 5.01
Number of RSUs Outstanding, options exercised
Number of options outstanding, options forfeited, cancelled and expired (592)
Number of RSUs Outstanding, options forfeited, canceled and expired
Number of RSUs Outstanding, end of period 96