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Equity Plans - Activity (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Options Outstanding      
Options Outstanding, Beginning balance 3,178,441    
Options Outstanding, Options granted 1,328,800    
Options Outstanding, Options exercised (307,055)    
Options Outstanding, Options forfeited (518,665)    
Options Outstanding, Ending balance 3,681,521 3,178,441  
Options Outstanding, Options exercisable 1,973,866    
Options Outstanding, Options vested and expected to vest 3,681,521    
Weighted-Average Exercise Price Per Share      
Weighted-Average Exercise Price Per Share, Beginning balance $ 12.23    
Weighted-Average Exercise Price Per Share, Options granted 9.36    
Weighted-Average Exercise Price Per Share, Options exercised 3.81    
Weighted-Average Exercise Price Per Share, Options forfeited 14.08    
Weighted-Average Exercise Price Per Share, Ending balance 11.64 $ 12.23  
Weighted-Average Exercise Price Per Share, Options exercisable 11.82    
Weighted-Average Exercise Price Per Share, Options vested and expected to vest $ 11.64    
Weighted-Average Remaining Contractual Life (years)      
Weighted-Average Remaining Contractual Life (years) 7 years 9 months 11 days 7 years 6 months 7 days  
Weighted-Average Remaining Contractual Life (years), Options exercisable 6 years 11 months 5 days    
Weighted-Average Remaining Contractual Life (years), Options vested and expected to vest 7 years 9 months 11 days    
Aggregate Intrinsic Value      
Aggregate Intrinsic Value, Options Outstanding $ 2.4    
Aggregate Intrinsic Value, Options exercisable 2.3    
Aggregate Intrinsic Value, Options vested and expected to vest 2.4    
Aggregate intrinsic value of options exercised $ 2.6 $ 1.3 $ 3.5
Options, weighted-average grant-date fair value $ 5.45 $ 8.12 $ 7.74