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Employee Benefit Plans and Stock-based Compensation - RSU (Details) - USD ($)
$ / shares in Units, shares in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Weighted Average Grant Date Fair Value [Roll Forward]      
Common stock reserved for future issuance 3,469    
Restricted Stock Awards      
Shares [Roll Forward]      
Non-vested, beginning of period (in shares) 939 633 480
Granted (in shares) 443 554 344
Vested (in shares) (347) (228) (181)
Forfeited (in shares) (13) (20) (10)
Non-vested, end of period (in shares) 1,022 939 633
Weighted Average Grant Date Fair Value [Roll Forward]      
Non-vested, beginning of period (in dollars per share) $ 5.02 $ 6.85 $ 7.13
Granted (in dollars per share) 5.94 3.60 6.02
Vested (in dollars per share) 5.44 6.46 6.04
Forfeited (in dollars per share) 5.54 7.16 6.65
Non-vested, end of period (in dollars per share) $ 5.27 $ 5.02 $ 6.85
Total fair value of restricted stock awards vested $ 1,900,000 $ 1,500,000 $ 1,100,000
Unrecognized compensation expense related to restricted stock awards $ 4,800,000    
Weighted average remaining contractual terms 1 year 7 months 6 days    
Common stock reserved for future issuance 1,022    
Options      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Weighted-average period of amortization 2 years 4 months 24 days    
Weighted Average Grant Date Fair Value [Roll Forward]      
Common stock reserved for future issuance 1,885    
2015 Equity Incentive Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Compensation costs related to unvested stock options not yet recognized $ 800,000    
Value of estimated forfeitures $ 71,000    
Weighted Average Grant Date Fair Value [Roll Forward]      
Common stock reserved for future issuance 562