Annual report pursuant to Section 13 and 15(d)

Stockholders' Equity - Additional Information (Details)

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Stockholders' Equity - Additional Information (Details)
 12 Months Ended
Dec. 31, 2021
USD ($)
Vote
shares
Dec. 31, 2020
USD ($)
shares
Dec. 31, 2019
USD ($)
shares
Class Of Stock [Line Items]      
Number of voting rights per share of common stock | Vote 1    
Preferred stock, shares authorized 10,000,000    
Preferred stock, shares issued 0 0  
Preferred stock, shares outstanding 0 0  
Dividends declared | $ $ 0 $ 0 $ 0
Total intrinsic value of options exercised | $ 14,524,000 494,000 7,910,000
Total weighted average fair value of stock options granted | $ 0 0 0
401(k) Retirement Savings Plan      
Class Of Stock [Line Items]      
Defined benefit plan, contributed by employer net of forfeitures | $ $ 479,000 $ 455,000 $ 871,000
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    
Grants of units unvested 240,044 210,622 87,902
Time based restricted stock awards      
Class Of Stock [Line Items]      
Vesting period 4 years    
Grants of units unvested     54,853
Performance and time based restricted stock awards      
Class Of Stock [Line Items]      
Vesting period 3 years    
Grants of units unvested     40,166
Performance and time based restricted stock units      
Class Of Stock [Line Items]      
Vesting period 3 years    
Grants of units unvested 88,902 88,458  
Restricted stock units and restricted stock awards      
Class Of Stock [Line Items]      
Amount expected to recognized over weighted-average period 2 years 6 months    
Unrecognized compensation cost related to unvested employee excluding estimated forfeitures | $ $ 13,685,000    
Rate of reduced stock-based compensation expense for estimated forfeiture 4.10% 4.70% 4.40%
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    
2012 Plan      
Class Of Stock [Line Items]      
Stock option shares outstanding 71,452    
Number of equity awards available for grant 0    
2012 Plan | Maximum      
Class Of Stock [Line Items]      
Stock option shares outstanding 2,328,569    
2014 Plan      
Class Of Stock [Line Items]      
Stock option shares outstanding 757,401    
Number of equity awards available for grant 1,481,328    
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    
2014 ESPP Plan      
Class Of Stock [Line Items]      
Number of equity awards available for grant 569,866    
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