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Summary of Significant Accounting Policies - Stock-Based Compensation Narrative (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2020 | Sep. 30, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Unrecognized compensation cost | $ 48,494 |  | $ 48,494 |  |  |
Stock-based Compensation Expense [Abstract] |  |  |  |  |  |
Stock-based compensation expense | $ 13,200 | $ 8,946 | $ 46,852 | $ 35,618 |  |
Two Thousand Twenty One |  |  |  |  |  |
Performance Units Disclosure |  |  |  |  |  |
Percentage of achievement of the predefined revenue and ROIC targets | 133.00% |  | 133.00% |  |  |
Two Thousand Twenty |  |  |  |  |  |
Performance Units Disclosure |  |  |  |  |  |
Percentage of achievement of the predefined revenue and ROIC targets |  | 114.00% |  | 114.00% |  |
Two Thousand Nineteen |  |  |  |  |  |
Performance Units Disclosure |  |  |  |  |  |
Percentage of achievement of the predefined revenue and ROIC targets |  |  |  |  |  | 103.00%
2014 Plan |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Shares of our common stock authorized for issuance (in shares) |  |  | 8,000,000 |  |  |
Shares of our common stock authorized for issuance (in shares) | 20,750,000 |  | 20,750,000 |  | 12,750,000 |
2013 Employee Stock Purchase Plan |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Shares of our common stock authorized for issuance (in shares) |  |  | 1,000,000 |  |  |
Shares of our common stock authorized for issuance (in shares) | 2,000,000 |  | 2,000,000 |  | 1,000,000 |
Restricted Stock Units |  |  |  |  |  |
Summary of Option Activity |  |  |  |  |  |
Total fair value of shares or units vested | $ 8,425 | $ 2,766 | $ 31,404 | $ 24,411 |  |
Performance units |  |  |  |  |  |
Summary of Option Activity |  |  |  |  |  |
Total fair value of shares or units vested | $ 22,030 | $ 1,370 | $ 27,856 | $ 12,421 |  |

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