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Stock-Based Compensation and Compensation Plans - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Feb. 28, 2021
Mar. 31, 2020
Apr. 30, 2016
Aug. 31, 2013
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Oct. 31, 2019
Stock Option and Compensation Plans                  
Options outstanding (in shares)           8,526,000      
Weighted-average exercise price of options (in dollars per share)           $ 9.42      
Weighted-average remaining contractual life of options           7 years 7 months 6 days      
Options, vested and expected to vest, outstanding, aggregate intrinsic value           $ 20,600      
Share-based compensation expense           $ 8,323 $ 9,180 $ 11,072  
Shares issued under ESPP (in shares)             70,466    
ESPP                  
Stock Option and Compensation Plans                  
Number of shares of common stock available for issuance under the Plan (in shares)           805,361      
Purchase price of common stock as percentage of fair market value     85.00%            
Share-based compensation expense           $ 100 $ 100    
Expected weighted average period to recognize share-based compensation costs           2 months 12 days      
Common stock issued (in shares)           76,402      
Proceeds from stock plans           $ 147      
Restricted stock units                  
Stock Option and Compensation Plans                  
Share-based compensation expense             0    
RSUs expected to vest (in shares)           1,725,000      
Weighted-average fair value of RSUs expected to vest (in dollars per share)           $ 5.25      
Aggregate intrinsic value of RSUs expected to vest           $ 11,900      
Total fair value vested           4,600      
Employees | Stock options                  
Stock Option and Compensation Plans                  
Share-based compensation expense           4,700 5,900 7,600  
Unrecognized share-based compensation costs for option awards, net of estimated forfeitures           $ 8,600      
Expected weighted average period to recognize share-based compensation costs           5 years 9 months 18 days      
Employees | Restricted stock units                  
Stock Option and Compensation Plans                  
Share-based compensation expense           $ 3,300 3,000 3,300  
Expected weighted average period to recognize share-based compensation costs           2 years      
Unrecognized compensation costs, net of estimated forfeitures           $ 14,400      
Consultants | Non-employee Options                  
Stock Option and Compensation Plans                  
Share-based compensation expense           200 $ 300 $ 200  
Unrecognized share-based compensation costs for option awards, net of estimated forfeitures           $ 100      
Expected weighted average period to recognize share-based compensation costs           2 years 4 months 24 days      
Consultants | Restricted stock units                  
Stock Option and Compensation Plans                  
Expected weighted average period to recognize share-based compensation costs           2 years 10 months 24 days      
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)           421,000      
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)           13,081,000      
2013 Plan | Subsequent Event                  
Stock Option and Compensation Plans                  
Increase in number of shares available under the Plan (in shares)         2,542,000        
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)           555,000      
Increase in number of shares available under the Plan (in shares)   1,000,000              
2019 Inducement Plan | Stock options | Subsequent Event                  
Stock Option and Compensation Plans                  
Increase in number of shares available under the Plan (in shares) 600,000