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Equity Incentive Plans and Stock-Based Compensation (Details Textual)
12 Months Ended
Dec. 31, 2020
USD ($)
plan
$ / shares
shares
Dec. 31, 2019
USD ($)
plan
$ / shares
shares
Dec. 31, 2018
USD ($)
plan
$ / shares
shares
Option One      
Stock-Based Compensation      
Awards, nonvested requisite service period 60 months    
Option Two      
Stock-Based Compensation      
Awards, nonvested requisite service period 48 months    
Minimum      
Stock-Based Compensation      
Awards, vesting rights (as a percentage) 0.00%    
Maximum      
Stock-Based Compensation      
Awards, vesting rights (as a percentage) 200.00%    
Employee stock purchase plan      
Stock-Based Compensation      
Number of employee stock purchase plans | plan 1 1 1
Minimum number of hours of weekly employment in order to qualify for eligibility in the plan 20 hours 20 hours 20 hours
Minimum number of months of employment in a fiscal year in order to qualify for eligibility in the plan 5 months 5 months 5 months
Offering period (in months) 6 months 6 months 6 months
Percentage of the price at the beginning of the offering period or price at the end of each offering period to derive purchase price 85.00% 85.00% 85.00%
Maximum share value per employee in any calendar year $ 25,000 $ 25,000 $ 25,000
Employee stock purchase plan, shares issued during period | shares 467,065 629,438 541,395
Employee stock purchase plan, weighted-average price per share | $ / shares $ 10.51 $ 8.53 $ 9.99
Number of additional shares authorized | shares 2,000,000    
Shares available for issuance | shares 3,198,375    
Stock-based compensation $ 1,500,000 $ 1,500,000 $ 1,400,000
Unrecognized compensation cost $ 700,000    
Unrecognized compensation cost, weighted-average period 4 months    
Options      
Stock-Based Compensation      
Options granted | shares 40,000 80,000 711,479
Estimated total grant date fair value     $ 3,000,000.0
Stock-based compensation $ 600,000 $ 1,000,000.0 1,700,000
Unrecognized compensation cost $ 1,100,000    
Unrecognized compensation cost, weighted-average period 2 years 2 months 12 days    
Total fair value of options vested $ 3,300,000 6,700,000 12,900,000
Nonvested equity stock and stock units      
Stock-Based Compensation      
Stock-based compensation 23,700,000 $ 23,900,000 $ 18,600,000
Unrecognized compensation cost $ 34,500,000    
Unrecognized compensation cost, weighted-average period 2 years 1 month 6 days    
Awards, nonvested grants in period, shares | shares 1,986,117 4,233,701 2,978,558
Awards, nonvested requisite service period 4 years    
Awards, nonvested grants in period, fair value $ 31,000,000.0 $ 43,000,000.0 $ 38,100,000
Nonvested equity stock and stock units | Director      
Stock-Based Compensation      
Awards, nonvested requisite service period 1 year