Income Taxes - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Operating Loss Carryforwards [Line Items]
Intraperiod tax allocation expense (benefit)	$ 100	$ 1,500
Valuation allowance for deferred tax assets	19,146	20,241
State income tax net operating loss carryforwards	32,200
Unrecognized tax benefits	2,941	3,610	$ 3,936
Tax benefits, if recognized, would reduce effective tax rate	2,500
Operating losses recognized	11,600
Internal Revenue Service (IRS)
Operating Loss Carryforwards [Line Items]
Federal income tax net operating loss carryforwards	91,600
State and Local Jurisdiction
Operating Loss Carryforwards [Line Items]
State loss carryforward subject to expiration	300
Federal And California Tax Authority
Operating Loss Carryforwards [Line Items]
Federal and California research and other credit carryforwards	800	$ 2,100
Expiring In Year Two | State and Local Jurisdiction
Operating Loss Carryforwards [Line Items]
State loss carryforward subject to expiration	$ 600