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Stock Incentive Plan and Other Equity Activity (Details) - USD ($)
shares in Thousands, $ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2020
Mar. 31, 2020
Jun. 30, 2019
Mar. 31, 2019
Jun. 30, 2020
Jun. 30, 2019
Sale of Stock [Line Items]            
Stock-based compensation expense $ 3,962   $ 649   $ 6,196 $ 1,670
Shares withheld for taxes $ (50) $ (772) $ (98) $ (564)    
Shares issued from warrants 110       110  
Number of warrants exercised 470       470  
Fair value of warrants exercised         $ 1,477  
Employee Stock Purchase Plan | ESPP            
Sale of Stock [Line Items]            
Stock-based compensation expense $ 18       $ 36  
Remaining authorized shares available for purchase (in shares) 762       762  
Treasury Stock            
Sale of Stock [Line Items]            
Shares withheld for taxes (in shares) 3 46   45 49  
Shares withheld for taxes $ (32) $ (668)   $ (564) $ (700)