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Equity Transactions and Share-based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 6 Months Ended
Jan. 20, 2021
Jan. 01, 2021
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award              
Common stock, par value (in dollars per share) $ 0.001   $ 0.001   $ 0.001   $ 0.001
Shares issued for restricted stock units (in shares)     0 0 169,000 163,000  
Public Stock Offering              
Share-based Compensation Arrangement by Share-based Payment Award              
Number of shares sold (in shares) 11,765,000            
Price of shares sold (in dollars per share) $ 8.50            
Proceeds from shares sold $ 107.8            
Underwriter's Option              
Share-based Compensation Arrangement by Share-based Payment Award              
Number of shares sold (in shares) 1,764,750            
Price of shares sold (in dollars per share) $ 7.99            
Purchase option term 30 days            
The 2013 Plan              
Share-based Compensation Arrangement by Share-based Payment Award              
Evergreen option provision, equity increase         4.00%    
Additional shares authorized (in shares)   2,500,000          
Number of shares reserved for future issuance (in shares)     2,200,000   2,200,000    
Shares issued pursuant to the exercise of stock options (in shares)     41,000 242,000 752,000 242,000  
The 2013 Employee Stock Purchase Plan              
Share-based Compensation Arrangement by Share-based Payment Award              
Evergreen option provision, equity increase         1.00%    
Additional shares authorized (in shares)   422,535          
Number of shares reserved for future issuance (in shares)     2,600,000   2,600,000    
Number of shares authorized to be granted (in shares)     3,900,000   3,900,000    
Number of shares reserved for issuance, annual increase (in shares)         422,535    
Participation term         24 months    
Percentage of pay that employee can contribute, maximum     15.00%   15.00%    
Discounted purchase price from market price, offering date         15.00%    
Discounted purchase price from market price, purchase date         15.00%    
Purchase interval         6 months    
Shares issued pursuant to employee stock purchase plan (in shares)         260,000 177,000