Share-Based Compensation - Summary of Stock Options Outstanding (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Number of shares vested and exercisable (in shares)	538,949	515,977	557,311
Options vested and exercisable weighted average remaining contractual life	5 years 9 months 21 days	5 years 11 months 12 days	5 years 4 months 6 days
Options vested and exercisable weighted average exercise price (in dollars per share)	$ 25.58	$ 21.88	$ 16.82
Options vested and exercisable intrinsic value	$ 12,842	$ 6,811	$ 11,080
$7.18 - 34.10
Range of exercise prices, lower range	$ 7.18
Range of exercise prices, upper range	$ 34.10
Number of shares vested and exercisable (in shares)	451,077
Options vested and exercisable weighted average remaining contractual life	5 years 5 months 8 days
Options vested and exercisable weighted average exercise price (in dollars per share)	$ 23.47
Options vested and exercisable intrinsic value	$ 11,702
$34.15 - 40.87
Range of exercise prices, lower range	$ 34.15
Range of exercise prices, upper range	$ 40.87
Number of shares vested and exercisable (in shares)	86,122
Options vested and exercisable weighted average remaining contractual life	7 years 9 months 25 days
Options vested and exercisable weighted average exercise price (in dollars per share)	$ 36.33
Options vested and exercisable intrinsic value	$ 1,126
$41.37 - 50.68
Range of exercise prices, lower range	$ 41.37
Range of exercise prices, upper range	$ 50.68
Number of shares vested and exercisable (in shares)	1,750
Options vested and exercisable weighted average remaining contractual life	1 year 9 months 21 days
Options vested and exercisable weighted average exercise price (in dollars per share)	$ 41.59
Options vested and exercisable intrinsic value	$ 14
$5.67 - 32.80
Range of exercise prices, lower range		$ 5.67
Range of exercise prices, upper range		$ 32.80
Number of shares vested and exercisable (in shares)		456,223
Options vested and exercisable weighted average remaining contractual life		5 years 8 months 19 days
Options vested and exercisable weighted average exercise price (in dollars per share)		$ 20.25
Options vested and exercisable intrinsic value		$ 6,757
$32.85 - 34.10
Range of exercise prices, lower range		$ 32.85
Range of exercise prices, upper range		$ 34.10
Number of shares vested and exercisable (in shares)		42,552
Options vested and exercisable weighted average remaining contractual life		7 years 5 months 19 days
Options vested and exercisable weighted average exercise price (in dollars per share)		$ 33.95
Options vested and exercisable intrinsic value		$ 47
$34.15 - 42.94
Range of exercise prices, lower range		$ 34.15
Range of exercise prices, upper range		$ 42.94
Number of shares vested and exercisable (in shares)		17,202
Options vested and exercisable weighted average remaining contractual life		8 years 3 months 18 days
Options vested and exercisable weighted average exercise price (in dollars per share)		$ 35.19
Options vested and exercisable intrinsic value		$ 7
$4.54 - 22.76
Range of exercise prices, lower range			$ 4.54
Range of exercise prices, upper range			$ 22.76
Number of shares vested and exercisable (in shares)			424,130
Options vested and exercisable weighted average remaining contractual life			4 years 4 months 9 days
Options vested and exercisable weighted average exercise price (in dollars per share)			$ 12.41
Options vested and exercisable intrinsic value			$ 10,303
$23.57 - 32.85
Range of exercise prices, lower range			$ 23.57
Range of exercise prices, upper range			$ 32.85
Number of shares vested and exercisable (in shares)			107,456
Options vested and exercisable weighted average remaining contractual life			8 years 3 months 21 days
Options vested and exercisable weighted average exercise price (in dollars per share)			$ 30.10
Options vested and exercisable intrinsic value			$ 709
$32.90 - 37.30
Range of exercise prices, lower range			$ 32.90
Range of exercise prices, upper range			$ 37.30
Number of shares vested and exercisable (in shares)			25,725
Options vested and exercisable weighted average remaining contractual life			9 years 2 months 8 days
Options vested and exercisable weighted average exercise price (in dollars per share)			$ 34.07
Options vested and exercisable intrinsic value			$ 68