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Employee Benefit Plans and Stock-Based Compensation - Options Exercise Prices (Details)
shares in Thousands
12 Months Ended
Dec. 31, 2020
$ / shares
shares
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Options outstanding, shares (in shares) | shares 1,885
Weighted-average Exercise Price (in dollars per share) $ 4.42
Weighted-average Remaining Contractual Life 6 years 2 months 1 day
Options Vested and Exercisable, Shares (in shares) | shares 1,418
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 4.52
$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 8
Weighted-average Exercise Price (in dollars per share) $ 2.14
Weighted-average Remaining Contractual Life 3 years 3 months 29 days
Options Vested and Exercisable, Shares (in shares) | shares 8
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 304
Weighted-average Exercise Price (in dollars per share) $ 2.18
Weighted-average Remaining Contractual Life 4 years 10 months 2 days
Options Vested and Exercisable, Shares (in shares) | shares 304
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 2.18
$2.36 - $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) 2.36
Range of exercise price, maximum (in dollars per share) $ 2.91
Options outstanding, shares (in shares) | shares 162
Weighted-average Exercise Price (in dollars per share) $ 2.56
Weighted-average Remaining Contractual Life 3 years 3 months 14 days
Options Vested and Exercisable, Shares (in shares) | shares 162
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 2.56
$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 8 years 10 months 6 days
Options Vested and Exercisable, Shares (in shares) | shares 107
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 3.06
$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 92
Weighted-average Exercise Price (in dollars per share) $ 4.79
Weighted-average Remaining Contractual Life 9 months 25 days
Options Vested and Exercisable, Shares (in shares) | shares 92
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 440
Weighted-average Exercise Price (in dollars per share) $ 5.21
Weighted-average Remaining Contractual Life 5 years 9 months 25 days
Options Vested and Exercisable, Shares (in shares) | shares 440
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 5.21
$5.61 - $5.61  
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) $ 5.61
Options outstanding, shares (in shares) | shares 20
Weighted-average Exercise Price (in dollars per share) $ 5.61
Weighted-average Remaining Contractual Life 1 year 1 month 28 days
Options Vested and Exercisable, Shares (in shares) | shares 20
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 5.61
$5.77 - $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) 5.77
Range of exercise price, maximum (in dollars per share) $ 5.77
Options outstanding, shares (in shares) | shares 245
Weighted-average Exercise Price (in dollars per share) $ 5.77
Weighted-average Remaining Contractual Life 7 years 10 months 6 days
Options Vested and Exercisable, Shares (in shares) | shares 128
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 5.77
$7.95 - $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) 7.95
Range of exercise price, maximum (in dollars per share) $ 7.95
Options outstanding, shares (in shares) | shares 60
Weighted-average Exercise Price (in dollars per share) $ 7.95
Weighted-average Remaining Contractual Life 6 years 29 days
Options Vested and Exercisable, Shares (in shares) | shares 59
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 7.95
$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 6 years 9 months 25 days
Options Vested and Exercisable, Shares (in shares) | shares 98
Options Vested and Exercisable, Weighted-Average Exercise Price (in dollars per share) $ 9.50