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Stock Incentive Plans - Summary of Share-based Awards Available for Grant under 2016 Plan (Details) - 2016 Plan - shares	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Share-Based Awards Available for Grant
Beginning balance (in shares)	5,528,132	4,717,292	4,034,152
Additional options authorized (in shares)	1,333,928	1,218,402	1,168,865
Awards granted (in shares)	(595,915)	(649,911)	(666,913)
Awards forfeited (in shares)	156,623	181,513	124,478
Awards withheld for tax purposes (in shares)	82,622	60,836	56,710
Ending balance (in shares)	6,505,390	5,528,132	4,717,292

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- Definition

Share based compensation arrangement by share based payment award number of shares available for grant granted in period.

+ References

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- Definition

The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

+ 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
-URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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- Definition

Number of shares used to settle grantee's tax withholding obligation for award under share-based payment arrangement.

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