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Stockholders' Equity and Stock Awards - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 12 Months Ended
Sep. 30, 2019
Mar. 31, 2019
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Jan. 29, 2016
Oct. 31, 2012
Stock Options Grants              
Number or options granted (in shares)     716,355        
Estimated fair value of each option (in dollars per share)     $ 7.10 $ 5.64 $ 5.35    
Exercise price (in dollars per share)     $ 20.24        
Total fair value of shares vested     $ 5.0 $ 5.1 $ 5.1    
Intrinsic value of options outstanding     45.4        
Intrinsic value of options exercised     10.0        
Intrinsic value of options exercisable     29.6        
Restricted and Performance Stock and Units Grants              
Unrecognized compensation expense will be recognized     $ 8.8        
Unrecognized compensation expense expected to recognized over a weighted average period     1 year 11 months 19 days        
Selling, General and Administrative Expenses              
Restricted and Performance Stock and Units Grants              
Stock-based compensation expense     $ 10.0 $ 11.2 $ 9.7    
Restricted Stock              
Restricted and Performance Stock and Units Grants              
Number of awards granted (in shares)     18,735        
Restricted Stock Units (RSUs)              
Restricted and Performance Stock and Units Grants              
Number of awards granted (in shares)     46,130        
Non-employee Director              
Restricted and Performance Stock and Units Grants              
Final payment under a compensation arrangement agreement     $ 6.2        
2012 Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Common stock, shares capital reserve for future issuance (in shares)             7,154,711
Award expiration period     10 years        
Award vesting period     4 years        
2012 Plan | Annual Vesting Rate              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock options vesting percentage     20.00%        
2012 Plan | Vesting at Issuance              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock options vesting percentage     20.00%        
2012 Plan | Vesting After Five Years | Strategic Stock Options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Award vesting period     5 years        
Stock options vesting percentage     100.00%        
2016 Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Common stock, shares capital reserve for future issuance (in shares)           5,030,000  
Stock Options Grants              
Number or options granted (in shares)     170,298        
2016 Plan | Stock Options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Award expiration period     10 years        
Stock Options Grants              
Estimated fair value of each option (in dollars per share)     $ 7.23        
Exercise price (in dollars per share)     $ 26.69        
2016 Plan | Restricted Stock Units (RSUs)              
Restricted and Performance Stock and Units Grants              
Number of awards granted (in shares)     46,130        
Estimated fair value of each award (in dollars per share)     $ 26.69        
2016 Plan | Performance Stock Units (PSUs)              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Award vesting period     3 years        
Restricted and Performance Stock and Units Grants              
Number of awards granted (in shares)     92,264        
Estimated fair value of each award (in dollars per share)     $ 26.69        
Peformance-based percentage, EBITDA     50.00%        
Performance-based percentage, Free Cash Flow     30.00%        
Performance-based percentage, Revenue     20.00%        
Budget attainment beginning, percentage     90.00%        
Budget attainment beginning vesting, percentage     25.00%        
Budget attainment ending, percentage     110.00%        
Budget attainment ending vesting, percentage     175.00%        
2016 Plan | Employees | Stock Options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Award expiration period     10 years        
Stock options vesting percentage     20.00%        
Stock Options Grants              
Number or options granted (in shares)     546,057        
Estimated fair value of each option (in dollars per share)     $ 7.06        
Exercise price (in dollars per share)     $ 26.69        
2016 Plan | Non-employee Director | Restricted Stock              
Restricted and Performance Stock and Units Grants              
Number of awards granted (in shares)     18,735        
Estimated fair value of each award (in dollars per share)     $ 26.69        
2016 Plan | 1st Anniversary of the Date of Grant | Employees | Stock Options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock options vesting percentage 20.00% 20.00%          
2016 Plan | 2nd Anniversary of the Date of Grant | Employees | Stock Options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock options vesting percentage 20.00% 20.00%          
2016 Plan | 3rd Anniversary of the Date of Grant | Employees | Stock Options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock options vesting percentage 20.00% 20.00%          
2016 Plan | 4th Anniversary of the Date of Grant | Employees | Stock Options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock options vesting percentage 20.00% 20.00%