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Equity Plans - Employee Stock Purchase Plan (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020
Equity Plans
Stock-based compensation	$ 11,371	$ 5,932
2016 ESPP
Equity Plans
Maximum payroll deduction for share purchases (as a percent)	15.00%
Purchase price of stock (as a percent)	85.00%
Shares issued in period	43,648
Number of shares available for issuance	1,013,999

X

- Definition

Amount of noncash expense for share-based payment arrangement.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 230
-SubTopic 10
-Section 45
-Paragraph 28
-Subparagraph (a)
-URI http://asc.fasb.org/extlink&oid=121586364&loc=d3e3602-108585

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- Definition

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.

+ References

No definition available.

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X

- Definition

The highest percentage of annual salary that an employee is permitted to utilize with respect to the 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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X

- 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

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-Publisher FASB
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-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
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- Definition

Number of shares issued under share-based payment arrangement.

+ References

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-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
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X

- Definition

Purchase price of common stock expressed as a percentage of its fair value.

+ References

No definition available.

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