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Stockholders' Equity and Stock-based Compensation Expense - Narrative (Details) - USD ($) $ in Thousands	1 Months Ended		3 Months Ended		9 Months Ended
	Sep. 30, 2021	Jul. 31, 2021	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options granted in period (in shares)					172,139
Total stock-based compensation expense			$ 3,742	$ 1,982	$ 8,507	$ 8,057
Stock awards
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vested in period (in shares)					175,813
RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares)					213,522
PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares)					463,593
PSUs \| Executive Officers, Senior Management, and Certain Employees
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares)					463,593
PSUs \| Executive Officers, Senior Management, and Certain Employees \| Continued service and operational goals for FY2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares)					198,591
PSUs \| Executive Officers, Senior Management, and Certain Employees \| Continued service and milestones from April 2023 through June 2024
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Granted (in shares)		265,002
2019 Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Additional shares authorized (in shares)	450,000