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Stock Incentive Plans (Tables) | 12 Months Ended
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Dec. 31, 2020
Share-based Payment Arrangement [Abstract] |
Schedule of Share-based Awards Available for Grant Under 2016 Plan | A summary of share-based awards available for grant under the 2016 Equity Incentive Plan is as follows:
| Shares Available for Grant
Balance at December 31, 2017 | 4,034,152 |
Additional options authorized | 1,168,865 |
Awards granted | (666,913) |
Awards forfeited | 124,478 |
Awards withheld for tax purposes | 56,710 |
Balance at December 31, 2018 | 4,717,292 |
Additional awards authorized | 1,218,402 |
Awards granted | (649,911) |
Awards forfeited | 181,513 |
Awards withheld for tax purposes | 60,836 |
Balance at December 31, 2019 | 5,528,132 |
Additional awards authorized | 1,333,928 |
Awards granted | (595,915) |
Awards forfeited | 156,623 |
Awards withheld for tax purposes | 82,622 |
Balance at December 31, 2020 | 6,505,390 |
Schedule of Stock Option Activity Under 2006 and 2016 Plans | The following table summarizes stock option activity under the 2006 and 2016 Equity Incentive Plans:
|  |  | Options Outstanding
Options Outstanding |  | Weighted- Average Exercise Price Per Share |  | Weighted- Average Remaining Contractual Life (years) |  | Aggregate Intrinsic Value (in thousands)
Balance at December 31, 2017 | 2,601,181 |  |  | $ | 12.24 |  |  | 7.17 |  | $ | 113,958 |
Options granted | 366,928 |  |  | $ | 68.32 |  |  |  |  |
Options exercised | (798,424) |  |  | $ | 7.19 |  |  |  |  |
Options forfeited | (75,548) |  |  | $ | 34.30 |  |  |  |  |
Balance at December 31, 2018 | 2,094,137 |  |  | $ | 23.20 |  |  | 7.02 |  | $ | 97,976 |
Options granted | 20,010 |  |  | $ | 82.77 |  |  |  |  |
Options exercised | (540,307) |  |  | $ | 9.59 |  |  |  |  |
Options forfeited | (70,593) |  |  | $ | 54.54 |  |  |  |  |
Balance at December 31, 2019 | 1,503,247 |  |  | $ | 27.40 |  |  | 6.43 |  | 62,401 |
Options granted | — |  |  | $ | — |  |  |  |  |
Options exercised | (868,614) |  |  | $ | 17.31 |  |  |  |  |
Options forfeited | (24,752) |  |  | $ | 66.89 |  |  |  |  |
Balance at December 31, 2020 | 609,881 |  |  | $ | 40.18 |  |  | 6.24 |  | 120,163 |
Options exercisable – December 31, 2020 | 486,423 |  |  | $ | 34.36 |  |  | 6.02 |  | 98,672 |
Options vested and expected to vest – December 31, 2020 | 606,418 |  |  | $ | 40.01 |  |  | 6.24 |  | 119,583 |
Schedule of Non-vested Restricted Stock Units ("RSUs") | The fair value of non-vested restricted stock units (“RSUs”) is based on the Company’s closing stock price on the date of grant. A summary for the year ended December 31, 2020, is as follows:
| Shares Underlying RSUs |  | Weighted Average Grant Date Fair Value |  | Weighted Remaining Vesting Period (in years) |  | Aggregate Intrinsic Value (in thousands)
Non-vested as of December 31, 2018 | 547,891 |  |  | $ | 56.62 |  |  | 2.45 |  | $ | 38,067 |
Granted | 629,901 |  |  | $ | 87.72 |  |  |  |  |
Vested | (180,842) |  |  | $ | 52.52 |  |  |  |  |
Forfeited | (110,920) |  |  | $ | 69.77 |  |  |  |  |
Non-vested as of December 31, 2019 | 886,030 |  |  | $ | 77.92 |  |  | 1.39 |  | $ | 60,330 |
Granted | 595,915 |  |  | $ | 104.09 |  |  |  |  |
Vested | (235,915) |  |  | $ | 69.01 |  |  |  |  |
Forfeited | (131,871) |  |  | $ | 59.85 |  |  |  |  |
Non-vested as of December 31, 2020 | 1,114,159 |  |  | $ | 94.25 |  |  | 1.38 |  | $ | 264,290 |

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