Complex non-local behavior makes designing high efficiency and multifunctional metasurfaces a significant challenge. While using libraries of meta-atoms provide a simple and fast implementation methodology, pillar to pillar interaction often imposes performance limitations. On the other extreme, inverse design based on topology optimization leverages non-local coupling to achieve high efficiency, but leads to complex and difficult to fabricate structures. In this paper, we demonstrate numerically and experimentally a shape optimization method that enables high efficiency metasurfaces while providing direct control of the structure complexity. The proposed method provides a path towards manufacturability of inverse-designed high efficiency metasurfaces.