Quarterly report pursuant to Section 13 or 15(d)

Stockholders' Equity - Additional Information (Details)

v3.20.2
Stockholders' Equity - Additional Information (Details) - USD ($)
$ in Thousands
 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Class Of Stock [Line Items]    
Total intrinsic value of options exercised $ 269 $ 7,017
401(k) Retirement Savings Plan    
Class Of Stock [Line Items]    
Defined benefit plan, contributed by employer net of forfeitures $ 455 $ 695
Stock options    
Class Of Stock [Line Items]    
Rate of reduced stock-based compensation expense for estimated forfeiture 7.30% 7.30%
Time based restricted stock units    
Class Of Stock [Line Items]    
Vesting period 4 years  
Time based restricted stock awards    
Class Of Stock [Line Items]    
Vesting period 4 years  
Performance and time based restricted stock awards    
Class Of Stock [Line Items]    
Vesting period 3 years  
Performance and time based restricted stock units    
Class Of Stock [Line Items]    
Vesting period 3 years  
Restricted stock units and restricted stock awards    
Class Of Stock [Line Items]    
Unrecognized compensation cost related to unvested employee excluding estimated forfeitures $ 14,971  
Amount expected to recognized over weighted-average period 2 years 7 months 6 days  
Maximum | Stock options    
Class Of Stock [Line Items]    
Stock option period, expiration 10 years  
Vesting period 4 years  
Minimum | Stock options    
Class Of Stock [Line Items]    
Stock option period, expiration 7 years  
Vesting period 1 year  
2002 Plan    
Class Of Stock [Line Items]    
Stock option shares outstanding 333  
Number of equity awards available for grant 0  
2012 Plan    
Class Of Stock [Line Items]    
Stock option shares outstanding 138,736  
Number of equity awards available for grant 0  
2014 Plan    
Class Of Stock [Line Items]    
Stock option shares outstanding 1,206,292  
Number of equity awards available for grant 1,609,397  
Terms of shares available for issuance The number of shares available for issuance under the 2014 Plan also is increased annually on the first day of each fiscal year equal to the least of: 895,346 shares; 4% of the outstanding shares of common stock as of the last day of the Company's immediately preceding fiscal year; or such other amount as the Company's board of directors may determine.  
Common stock capital shares reserved for future issuance maximum annual increase 895,346  
Percentage on outstanding shares of common stock 4.00%  
Number of additional number of shares reserve to provision 0  
2012 Plan and 2002 Plan | Maximum    
Class Of Stock [Line Items]    
Stock option shares outstanding 2,328,569  
2014 ESPP Plan    
Class Of Stock [Line Items]    
Number of equity awards available for grant 630,165  
Terms of shares available for issuance The number of shares available for sale under the ESPP is increased annually on the first day of each fiscal year equal to the least of: 179,069 shares; 1.5% of the outstanding shares of the Company's common stock on the last day of the Company's immediately preceding fiscal year; or such other amount as may be determined by the administrator.  
Percentage on outstanding shares of common stock 1.50%  
Number of additional number of shares reserve to provision 0  
Maximum percentage of common stock eligible to purchase through payroll deductions for participants 15.00%  
Maximum number of shares available for participant to purchase during period 1,500  
Purchase price as percentage of stock price on offering period 85.00%  
Purchase price as percentage of stock price on exercise date 85.00%  
Potential increase of shares available for issuance 179,069