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Stock-Based Compensation and Compensation Plans - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Jan. 01, 2020
Apr. 30, 2016
Aug. 31, 2013
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Oct. 31, 2019
Stock Option and Compensation Plans              
Options outstanding (in shares)       6,468,000      
Weighted-average exercise price of options (in dollars per share)       $ 11.24      
Weighted-average remaining contractual life of options       7 years 8 months 18 days      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Aggregate Intrinsic Value       $ 10,600      
Share-based compensation expense       $ 9,180 $ 11,072 $ 18,171  
Shares issued under ESPP (in shares)         31,413    
ESPP              
Stock Option and Compensation Plans              
Number of shares of common stock available for issuance under the Plan (in shares)       881,763      
Purchase price of common stock as percentage of fair market value   85.00%          
Share-based compensation expense       $ 100 $ 0    
Expected weighted average period to recognize share-based compensation costs       3 months 18 days      
Common stock issued (in shares)       70,466      
Proceeds from stock plans       $ 81      
Restricted stock units              
Stock Option and Compensation Plans              
Share-based compensation expense       $ 0 100    
RSUs expected to vest (in shares)       1,287,000      
Weighted-average fair value of RSUs expected to vest (in dollars per share)       $ 5.39      
Aggregate intrinsic value of RSUs expected to vest       $ 11,000      
Total fair value vested       3,600      
Employees | Stock options              
Stock Option and Compensation Plans              
Share-based compensation expense       5,900 7,600 13,100  
Unrecognized share-based compensation costs for option awards, net of estimated forfeitures       $ 8,000      
Expected weighted average period to recognize share-based compensation costs       3 years 1 month 6 days      
Employees | Restricted stock units              
Stock Option and Compensation Plans              
Share-based compensation expense       $ 3,000 3,300 4,400  
Expected weighted average period to recognize share-based compensation costs       2 years 8 months 18 days      
Unrecognized compensation costs, net of estimated forfeitures       $ 5,000      
Consultants | Non-employee Options              
Stock Option and Compensation Plans              
Share-based compensation expense       300 $ 200 $ 300  
Unrecognized share-based compensation costs for option awards, net of estimated forfeitures       $ 200      
Expected weighted average period to recognize share-based compensation costs       3 years 7 months 12 days      
Consultants | Restricted stock units              
Stock Option and Compensation Plans              
Expected weighted average period to recognize share-based compensation costs       3 years 5 months      
Unrecognized compensation costs, net of estimated forfeitures       $ 100      
Maximum | ESPP              
Stock Option and Compensation Plans              
Number of shares reserved for issuance under the Plan (in shares)   1,000,000          
2013 Plan              
Stock Option and Compensation Plans              
Number of shares of common stock available for issuance under the Plan (in shares)       732,000      
Annual increase in shares reserved for issuance under the Plan (in shares)     2,542,372        
Annual increase in shares reserved for issuance under the Plan (as a percent)     4.00%        
Increase in number of shares available under the Plan (in shares)       10,539,000      
2013 Plan | Subsequent Event              
Stock Option and Compensation Plans              
Annual increase in shares reserved for issuance under the Plan (as a percent) 4.00%            
Increase in number of shares available under the Plan (in shares) 1,985,000            
2013 Plan | Maximum              
Stock Option and Compensation Plans              
Number of shares reserved for issuance under the Plan (in shares)     3,359,641        
2007 Plan              
Stock Option and Compensation Plans              
Number of shares of common stock available for issuance under the Plan (in shares)     739,317        
2019 Inducement Plan | Stock options              
Stock Option and Compensation Plans              
Number of shares reserved for issuance under the Plan (in shares)             1,000,000
Number of shares of common stock available for issuance under the Plan (in shares)             650,000