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Employee Benefit Plans and Stock-based Compensation - Options (Details) - Options - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Number of Options Outstanding [Roll Forward]        
Options outstanding, beginning of period (in shares) 2,953,000 2,654,000 2,666,000  
Granted (in shares)   430,000 246,000  
Exercised (in shares) (905,000) (113,000) (238,000)  
Canceled and expired (in shares) (163,000) (18,000) (20,000)  
Options outstanding, end of period (in shares) 1,885,000 2,953,000 2,654,000 2,666,000
Options vested and unvested options expected to vest, net of forfeitures, end of period (in shares) 1,872,000      
Options exercisable, end of period (in shares) 1,418,000      
Weighted-average Exercise Price [Roll Forward]        
Options outstanding, beginning of period (in dollars per share) $ 4.00 $ 4.09 $ 3.81  
Granted (in dollars per share)   3.06 5.77  
Exercised (in dollars per share) 2.80 2.37 2.64  
Canceled and expired (in dollars per share) 5.85 4.47 4.40  
Options outstanding, end of period (in dollars per share) 4.42 4.00 4.09 $ 3.81
Options vested and unvested options expected to vest, net of forfeitures (in dollars per share) 4.42      
Options exercisable, end of period (in dollars per share) $ 4.52      
Weighted-average grant date fair value of stock options granted (in dollars per share)   $ 1.48 $ 2.74  
Weighted average Remaining Contractual Life [Abstract]        
Options outstanding 6 years 2 months 1 day 5 years 11 months 12 days 6 years 3 months 10 days 6 years 10 months 13 days
Options vested and unvested options expected to vest, net of forfeitures, end of period 6 years 1 month 24 days      
Option exercisable, end of period 5 years 4 months 28 days      
Aggregate Intrinsic Value [Abstract]        
Options outstanding, beginning of period $ 3,040,000 $ 2,720,000 $ 13,149,000  
Exercised 3,200,000 266,000 666,000  
Options outstanding, end of period 9,713,000 $ 3,040,000 $ 2,720,000 $ 13,149,000
Options vested and expected to vest, end of period 9,636,000      
Options exercisable, end of period $ 7,165,000      
Exercised (in shares) 905,000 113,000 238,000