Annual report pursuant to Section 13 and 15(d)

Stockholders' Equity - Assumptions Applied to Estimate Fair Value of Shares Issued Under ESPP (Details)

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Stockholders' Equity - Assumptions Applied to Estimate Fair Value of Shares Issued Under ESPP (Details) - Employee Stock Purchase Plan
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Expected term (years) 6 months 6 months 6 months
Risk free interest rate, Minimum 1.75% 1.63% 1.15%
Risk free interest rate, Maximum 2.53% 2.46% 1.63%
Expected dividend yield 0.00% 0.00% 0.00%
Volatility, Minimum 44.00% 37.34% 42.35%
Volatility, Maximum 47.00% 44.00% 45.34%