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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%