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Stock Incentive Plans - Additional Information (Details) $ / shares in Units, $ in Millions |  | 1 Months Ended | 12 Months Ended
--- | --- | --- | ---
Oct. 31, 2016 numberOfPurchasePeriod shares | Oct. 31, 2016 shares | Dec. 31, 2020 USD ($) shares | Dec. 31, 2019 USD ($) $ / shares shares | Dec. 31, 2018 USD ($) $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Options granted during the period (in shares) |  |  | 0 | 20,010 | 366,928
Shares available for future issuance (in shares) |  |  | 9,740,557 | 9,098,512 |
Expected dividend yield |  |  | 0.00% |  |
Restricted stock units granted (in shares) |  |  | 595,915 |  |
Restricted stock units vested (in shares) |  |  | 235,915 |  |
Restricted stock units forfeited (in shares) |  |  | 131,871 |  |
Weighted-average grant date fair value of options (in USD per share) | $ / shares |  |  |  | $ 38.29 | $ 32.38
Options Granted (in shares) |  |  | 0 |  |
Intrinsic value of options exercised | $ |  |  | $ 109.2 | $ 36.9 | $ 52.4
Estimated grant date fair value of option vested | $ |  |  | $ 4.9 | $ 7.8 | $ 5.3
Maximum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Expected term (in years) |  |  | 1 year | 1 year | 1 year
Minimum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Expected term (in years) |  |  | 6 months | 6 months | 6 months
2006 Plan |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Stock option vesting term (in years) |  |  | 3 years |  |
2006 Plan | First Anniversary of Grant |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Stock option exercisable rate (as a percent) |  |  | 25.00% |  |
2006 Plan | Maximum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Stock option, maximum period for grant |  |  | 10 years |  |
2006 Plan | Minimum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Percentage of voting power |  |  | 10.00% |  |
2006 Plan | ISO | Maximum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Stock option vesting term (in years) |  |  | 5 years |  |
2006 Plan | Other Options | Maximum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Stock option vesting term (in years) |  |  | 10 years |  |
2016 Plan |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Options granted during the period (in shares) |  | 0 |  |  |
Shares available for future issuance (in shares) | 3,865,000 | 3,865,000 | 8,693,162 |  |
Percentage of outstanding shares |  | 5.00% |  |  |
2016 Plan | Maximum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Stock option, maximum period for grant |  |  | 10 years |  |
2016 Plan | Minimum |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Percentage of common stock fair value on date of grant | 100.00% | 100.00% |  |  |
Employee Stock Purchase Program ("ESPP") |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Shares available for future issuance (in shares) | 483,031 | 483,031 | 1,511,127 |  |
Percentage of outstanding shares |  | 1.50% |  |  |
Increase in shares available for future issuance (in shares) | 966,062 |  |  |  |
Percentage of payroll deductions of eligible compensation | 15.00% | 15.00% |  |  |
Offering period (in months) | 12 months |  |  |  |
Number of purchase period | numberOfPurchasePeriod | 2 |  |  |  |
Purchase period (in months) |  | 6 months |  |  |
Percentage of common stock fair market value available for employee purchase | 85.00% |  |  |  |
Common stock issued to employees (in shares) |  |  | 420,352 |  |
Expected minimum volatility (as a percent) |  |  | 68.72% | 43.61% | 41.46%
Expected maximum volatility (as a percent) |  |  | 75.78% | 48.05% | 44.55%
Risk-free interest rate, minimum (as a percent) |  |  | 0.11% | 1.60% | 2.19%
Risk-free interest rate, maximum (as a percent) |  |  | 0.18% | 2.35% | 2.64%
Expected dividend yield |  |  | 0.00% | 0.00% | 0.00%

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