Equity Incentive Plans and Stock-Based Compensation (Details 2) - Options $ / shares in Units, $ in Thousands	6 Months Ended
	Jun. 30, 2020 USD ($) $ / shares shares
Number of Shares
Outstanding, at the beginning of the period | shares	1,639,146
Options granted | shares	0
Options exercised | shares	(473,170)
Options forfeited | shares	(57,836)
Outstanding, at the end of the period | shares	1,108,140
Vested or expected to vest at the end of the period | shares	1,105,704
Options exercisable at the end of the period | shares	889,527
Weighted Average Exercise Price
Outstanding at the beginning of the period | $ / shares	$ 11.37
Options granted | $ / shares	0
Options exercised | $ / shares	10.48
Options forfeited | $ / shares	18.73
Outstanding at the end of the period | $ / shares	11.36
Vested or expected to vest at the end of the period | $ / shares	11.36
Options exercisable at the end of the period | $ / shares	$ 10.98
Weighted Average Remaining Contractual Term (in years)
Outstanding	4 years 10 months 9 days
Vested or expected to vest	4 years 10 months 6 days
Options exercisable	4 years 29 days
Aggregate Intrinsic Value
Outstanding | $	$ 4,495
Vested or expected to vest | $	4,490
Options exercisable | $	$ 3,996