Stock Based Compensation - Schedule of Information With Respect to Stock Options (Details) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2020 USD ($) $ / shares shares
Number of Shares
Beginning balance (in shares)	400
Options granted (in shares)	619
Options exercised (in shares)	(47)
Forfeited and cancelled (in shares)	(15)
Ending balance (in shares)	957
Vested and expected to vest at December 31, 2020 (in shares)	938
Total shares exercisable as of December 31, 2020 (in shares)	222
Shares remaining available for grant (in shares)	601
Weighted Average Exercise Price
Beginning balance (in dollars per share) | $ / shares	$ 14.50
Options granted (in dollars per share) | $ / shares	13.82
Options Exercised (in dollars per share) | $ / shares	10.90
Forfeited and cancelled (in dollars per share) | $ / shares	11.36
Ending balance (in dollars per share) | $ / shares	14.29
Vested and expected to vest at December 31, 2020 (in dollars per share) | $ / shares	14.27
Total shares exercisable as of December 31, 2020 (in dollars per share) | $ / shares	$ 12.03
Aggregate  Intrinsic Value
Ending balance | $	$ 46,398