Annual report pursuant to Section 13 and 15(d)

Commitments and Contingencies - Narrative (Details)

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Commitments and Contingencies - Narrative (Details)
1 Months Ended 3 Months Ended 12 Months Ended 24 Months Ended
Jun. 30, 2017
USD ($)
Apr. 30, 2017
USD ($)
Dec. 31, 2016
USD ($)
Dec. 31, 2019
USD ($)
ft²
security
Dec. 31, 2019
USD ($)
ft²
security
Dec. 31, 2018
USD ($)
Dec. 31, 2017
USD ($)
Dec. 31, 2012
USD ($)
Dec. 31, 2012
USD ($)
Oct. 31, 2019
USD ($)
ft²
Mar. 31, 2019
Jan. 01, 2019
USD ($)
Long-term Purchase Commitment [Line Items]                        
Lease area space occupancy | ft²       107,200 107,200              
Number of buildings | security       4 4              
Payments for capital improvements   $ 300,000 $ 400,000                  
Finance lease, term of contract   3 years 3 years                  
Operating lease, right-of-use asset       $ 23,837,000 $ 23,837,000 $ 0            
Lease obligations       26,058,000 26,058,000 0            
Finance lease, right-of-use asset       268,000 268,000 0           $ 500,000
Finance lease, liability       60,000 60,000 0           300,000
Rent expense           3,200,000 $ 3,200,000          
Sublease Income         957,000 1,100,000 1,400,000          
Finance lease, cost         227,000 300,000 $ 200,000          
Sublease income receivable       100,000 100,000              
Indemnification agreement                        
Long-term Purchase Commitment [Line Items]                        
Accruals for expenses related to indemnification issues       0 0              
Term Debt                        
Long-term Purchase Commitment [Line Items]                        
Current borrowing capacity $ 10,000,000.0                      
Term Debt | London Interbank Offered Rate (LIBOR)                        
Long-term Purchase Commitment [Line Items]                        
Basis spread on variable rate 3.60%                      
Revolving Line of Credit                        
Long-term Purchase Commitment [Line Items]                        
Current borrowing capacity $ 5,000,000.0                      
Accounts receivable borrowing base percentage 80.00%                      
Interest rate, stated percentage 5.00%                      
Revolving Line of Credit | Prime Rate                        
Long-term Purchase Commitment [Line Items]                        
Basis spread on variable rate 1.00%                      
Demand Deposits | Letter of Credit                        
Long-term Purchase Commitment [Line Items]                        
Restricted cash and investments, noncurrent       1,100,000 1,100,000 700,000            
Fifth Amendment                        
Long-term Purchase Commitment [Line Items]                        
Payments for capital improvements               $ 3,600,000        
Payments for (proceeds from) tenant allowance                 $ (3,100,000)      
Amendment 7                        
Long-term Purchase Commitment [Line Items]                        
Incentive from lessor           500,000            
Accounting Standards Update 2016-02                        
Long-term Purchase Commitment [Line Items]                        
Operating lease, right-of-use asset                       26,617,000
Lease obligations                       27,562,000
Finance lease, right-of-use asset                       493,000
Finance lease, liability                       $ 302,000
Headquarters Redwood City                        
Long-term Purchase Commitment [Line Items]                        
Asset retirement obligations       $ 200,000 $ 200,000 $ 200,000            
200-220 Penobscot                        
Long-term Purchase Commitment [Line Items]                        
Lease area space occupancy | ft²       28,200 28,200              
400 Penoscot                        
Long-term Purchase Commitment [Line Items]                        
Lease area space occupancy | ft²       37,900 37,900              
Area of Sublease Space | ft²       13,000 13,000              
501 Chesapeake                        
Long-term Purchase Commitment [Line Items]                        
Lease area space occupancy | ft²       11,200 11,200              
Renewal term                     5 years  
101 Saginaw                        
Long-term Purchase Commitment [Line Items]                        
Lease area space occupancy | ft²       29,900 29,900              
Area of Sublease Space | ft²       26,500 26,500         3,400    
Sublease Term       3 months 3 months              
Sublease income receivable                   $ 47,000