Shareholder's Equity and Stock-Based Compensation - Additional Information (Details) - shares	6 Months Ended
Jun. 30, 2020	Jun. 30, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted	222,553
2016 Incentive Award Plan \| Granted to Employees
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Awards granted to employees	319,397	510,986
2016 Incentive Award Plan \| Restricted Stock Awards (RSA) \| Non Employee Directors
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted	23,148	38,832
Award vesting period	1 year	1 year
2016 Incentive Award Plan \| Vesting After Four Years \| Restricted Stock Awards (RSA)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares granted	20,724
Award vesting period	4 years
2016 Incentive Award Plan \| Vesting After Four Years \| Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted		5,000
Award vesting period		4 years
2016 Incentive Award Plan \| Vesting After Four Years \| Restricted Stock Units (RSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares granted	96,768	167,310
Award vesting period	4 years	4 years
2016 Incentive Award Plan \| Vesting After Three Years \| Restricted Stock Units (RSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares granted	2,500
Award vesting period	3 years
2016 Incentive Award Plan \| Fully-vested Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted	199,405	311,676
2016 Incentive Award Plan \| Vesting in Twelve Equal Monthly Installments
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted		22,000
2016 Incentive Award Plan \| Vesting After One Year \| Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted		5,000
Award vesting period		1 year

Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
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-URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Gross number of share options (or share units) granted during the period.

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Number of shares issued under share-based payment arrangement.

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