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Employee Benefit Plans and Stock-Based Compensation - Options Exercise Prices (Details)
shares in Thousands
12 Months Ended
Dec. 31, 2019
$ / shares
shares
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Options outstanding, shares (in shares) | shares 2,953
Weighted-average Exercise Price (in dollars per share) $ 4.00
Weighted-average Remaining Contractual Life 5 years 11 months 12 days
Options Vested and Exercisable, Shares (in shares) | shares 2,169
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 3.81
$2.14 - $2.14  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise price, minimum (in dollars per share) 2.14
Range of exercise price, maximum (in dollars per share) $ 2.14
Options outstanding, shares (in shares) | shares 11
Weighted-average Exercise Price (in dollars per share) $ 2.14
Weighted-average Remaining Contractual Life 4 years 3 months 29 days
Options Vested and Exercisable, Shares (in shares) | shares 11
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 2.14
$2.18 - $2.18  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise price, minimum (in dollars per share) 2.18
Range of exercise price, maximum (in dollars per share) $ 2.18
Options outstanding, shares (in shares) | shares 540
Weighted-average Exercise Price (in dollars per share) $ 2.18
Weighted-average Remaining Contractual Life 5 years 10 months 2 days
Options Vested and Exercisable, Shares (in shares) | shares 540
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 2.18
$2.29 - $2.36  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise price, minimum (in dollars per share) 2.29
Range of exercise price, maximum (in dollars per share) $ 2.36
Options outstanding, shares (in shares) | shares 358
Weighted-average Exercise Price (in dollars per share) $ 2.32
Weighted-average Remaining Contractual Life 4 years 1 month 24 days
Options Vested and Exercisable, Shares (in shares) | shares 358
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 2.32
$2.47 - $2.91  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise price, minimum (in dollars per share) 2.47
Range of exercise price, maximum (in dollars per share) $ 2.91
Options outstanding, shares (in shares) | shares 342
Weighted-average Exercise Price (in dollars per share) $ 2.71
Weighted-average Remaining Contractual Life 3 years 11 months 19 days
Options Vested and Exercisable, Shares (in shares) | shares 341
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 2.71
$3.06 - $3.06  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise price, minimum (in dollars per share) 3.06
Range of exercise price, maximum (in dollars per share) $ 3.06
Options outstanding, shares (in shares) | shares 430
Weighted-average Exercise Price (in dollars per share) $ 3.06
Weighted-average Remaining Contractual Life 9 years 10 months 6 days
$4.79 - $4.79  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise price, minimum (in dollars per share) $ 4.79
Range of exercise price, maximum (in dollars per share) $ 4.79
Options outstanding, shares (in shares) | shares 129
Weighted-average Exercise Price (in dollars per share) $ 4.79
Weighted-average Remaining Contractual Life 1 year 9 months 26 days
Options Vested and Exercisable, Shares (in shares) | shares 129
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 4.79
$5.21 - $5.21  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise price, minimum (in dollars per share) 5.21
Range of exercise price, maximum (in dollars per share) $ 5.21
Options outstanding, shares (in shares) | shares 471
Weighted-average Exercise Price (in dollars per share) $ 5.21
Weighted-average Remaining Contractual Life 6 years 9 months 26 days
Options Vested and Exercisable, Shares (in shares) | shares 370
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 5.21
$5.61 - $5.77  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise price, minimum (in dollars per share) 5.61
Range of exercise price, maximum (in dollars per share) $ 5.77
Options outstanding, shares (in shares) | shares 325
Weighted-average Exercise Price (in dollars per share) $ 5.73
Weighted-average Remaining Contractual Life 7 years 2 months 16 days
Options Vested and Exercisable, Shares (in shares) | shares 146
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 5.68
$5.83 - $7.95  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise price, minimum (in dollars per share) 5.83
Range of exercise price, maximum (in dollars per share) $ 7.95
Options outstanding, shares (in shares) | shares 223
Weighted-average Exercise Price (in dollars per share) $ 6.41
Weighted-average Remaining Contractual Life 2 years 4 months 2 days
Options Vested and Exercisable, Shares (in shares) | shares 207
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 6.29
$9.50 - $9.50  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise price, minimum (in dollars per share) 9.50
Range of exercise price, maximum (in dollars per share) $ 9.50
Options outstanding, shares (in shares) | shares 124
Weighted-average Exercise Price (in dollars per share) $ 9.50
Weighted-average Remaining Contractual Life 7 years 9 months 26 days
Options Vested and Exercisable, Shares (in shares) | shares 67
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 9.50