Stock-Based Compensation and Other Benefit Plans - Stock Options Activity (Details)	12 Months Ended
	Dec. 31, 2019 USD ($) $ / shares shares
Shares
Outstanding at beginning of period (in shares) | shares	3,311,726
Granted (in shares) | shares	0
Exercised (in shares) | shares	(334,395)
Expired or canceled (in shares) | shares	(135,272)
Outstanding at end of period (in shares) | shares	2,842,059
Weighted- Average Exercise Price
Outstanding at beginning of period (in dollars per share) | $ / shares	$ 7.13
Granted (in dollars per share) | $ / shares	0
Exercised (in dollars per share) | $ / shares	3.93
Expired or canceled (in dollars per share) | $ / shares	9.98
Outstanding at end of period (in dollars per share) | $ / shares	$ 7.37
Vested or expected to vest at end of period
Vested or expected to vest at end of period (in shares) | shares	2,842,059
Vested or expected to vest at end of period (in dollars per share) | $ / shares	$ 7.37
Weighted- average remaining contractual life vested or expected to vest at end of period	3 years 10 months 20 days
Aggregate intrinsic value, vested or expected to vest at end of period | $	$ 2,177
Options exercisable at end of period
Options exercisable at end of period (in shares) | shares	2,842,059
Options exercisable at end of period (in dollars per share) | $ / shares	$ 7.37
Options exercisable at end of period	3 years 10 months 20 days
Options exercisable at end of period | $	$ 2,177
Weighted-average remaining contractual life, outstanding at end of period	3 years 10 months 20 days
Aggregate intrinsic value, outstanding at end of period | $	$ 2,177