Quarterly report pursuant to Section 13 or 15(d)

Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized (Details)

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Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Stock-based compensation expense by type of award:        
Stock-based compensation expense $ 2,050 $ 1,565 $ 6,111 $ 6,930
Stock Option Plan Awards        
Stock-based compensation expense by type of award:        
Stock-based compensation expense   590 709 2,513
Restricted stock units and restricted stock awards        
Stock-based compensation expense by type of award:        
Stock-based compensation expense 1,878 834 4,853 3,882
Employee Stock Purchase Plan        
Stock-based compensation expense by type of award:        
Stock-based compensation expense $ 172 $ 141 $ 549 $ 535