Equity Incentive Plans and Stock-Based Compensation (Details 2) - Options $ / shares in Units, $ in Thousands	9 Months Ended
	Sep. 30, 2020 USD ($) $ / shares shares
Number of shares
Outstanding, at the beginning of the period | shares	1,639,146
Options granted | shares	40,000
Options exercised | shares	(493,979)
Options forfeited | shares	(97,836)
Outstanding, at the end of the period | shares	1,087,331
Vested or expected to vest at the end of the period | shares	1,084,594
Options exercisable at the end of the period | shares	861,695
Weighted-average exercise price
Outstanding at the beginning of the period | $ / shares	$ 11.37
Options granted | $ / shares	15.59
Options exercised | $ / shares	10.45
Options forfeited | $ / shares	19.63
Outstanding at the end of the period | $ / shares	11.20
Vested or expected to vest at the end of the period | $ / shares	11.19
Options exercisable at the end of the period | $ / shares	$ 10.61
Weighted-average remaining contractual term (in years)
Outstanding	4 years 11 months 26 days
Vested or expected to vest	4 years 11 months 23 days
Options exercisable	4 years 1 month 20 days
Aggregate intrinsic value
Outstanding | $	$ 2,893
Vested or expected to vest | $	2,892
Options exercisable | $	$ 2,749