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Stock Options and Employee Stock Purchase Plan - Restricted Stock and Restricted Stock Unit Award Activity (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Restricted Stock |  |  |
Shares |  |  |
Beginning balance (in shares) | 1,105,059 | 1,207,011 | 605,566
Granted (in shares) | 1,268 | 187,773 | 830,256
Vested (in shares) | (264,172) | (172,884) | (157,972)
Canceled (in shares) | (21,589) | (116,841) | (70,839)
Ending balance (in shares) | 820,566 | 1,105,059 | 1,207,011
Weighted-Average Grant-Date Fair Value |  |  |
Beginning balance (in usd per share) | $ 64.76 | $ 64.82 | $ 51.57
Granted (in usd per share) | 98.63 | 79.00 | 63.55
Vested (in usd per share) | 70.25 | 73.65 | 61.29
Canceled (in usd per share) | 79.34 | 72.58 | 74.84
Ending balance (in usd per share) | $ 62.66 | $ 64.76 | $ 64.82
Number of Shares |  |  |
Granted (in shares) | 1,268 | 187,773 | 830,256
Vested (in shares) | (264,172) | (172,884) | (157,972)
Canceled (in shares) | (21,589) | (116,841) | (70,839)
Restricted Stock Units (RSUs) |  |  |
Shares |  |  |
Granted (in shares) | 210,630 | 3,844 | 20,044
Vested (in shares) | (9,029) | (12,343) | (11,540)
Canceled (in shares) | (12,691) | (11,858) | (5,673)
Vested and expected to vest (in shares) | 135,944 |  |
Number of Shares |  |  |
Beginning balance (in shares) | 20,874 | 41,231 | 38,400
Granted (in shares) | 210,630 | 3,844 | 20,044
Vested (in shares) | (9,029) | (12,343) | (11,540)
Canceled (in shares) | (12,691) | (11,858) | (5,673)
Ending balance (in shares) | 209,784 | 20,874 | 41,231
Weighted-Average Remaining Contractual Life (in Years) |  |  |
Outstanding at December 31, 2020 | 3 years 6 months |  |
Vested and expected to vest at December 31, 2020 | 2 years 8 months 12 days |  |
Aggregate Intrinsic Value |  |  |
Outstanding at December 31, 2020 | $ 20,493,799 |  |
Vested and expected to vest at December 31, 2020 | $ 13,280,344 |  |

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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period. + 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 -Subparagraph (c)(1)(iv)(3) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target 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 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Weighted average remaining contractual term for equity-based awards excluding options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + 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 -Subparagraph (e)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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