Stock-Based Compensation - Summary of the Company's Stock Option Activity (Details) - Stock Options - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Shares
Options outstanding at the beginning of the period (in shares)	956,164
Granted (in shares)	210,243	187,484	273,800
Exercised (in shares)	(58,404)
Forfeited (in shares)	(17,164)
Canceled (in shares)	(24,868)
Options outstanding at the end of the period (in shares)	1,065,971	956,164
Options exercisable (in shares)	623,487
Weighted Average Exercise Price Per Share
Options outstanding at the beginning of the period (in dollars per share)	$ 21.58
Granted (in dollars per share)	18.40
Exercised (in dollars per share)	6.57
Options forfeited weighted average cost (in dollars per share)	23.81
Options canceled weighted average cost (in dollars per share)	21.18
Options outstanding at the end of the period (in dollars per share)	21.75	$ 21.58
Options exercisable (in dollars per share)	$ 20.96
Aggregate Intrinsic Value
Options outstanding (in dollars)	$ 0.4
Options exercisable (in dollars)	$ 0.4