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Equity Incentive Plans and Stock-Based Compensation - 2014 Equity Incentive Plan/ESPP (Details) - USD ($) $ / shares in Units, $ in Thousands |  |  | 1 Months Ended | 12 Months Ended
--- | --- | --- | --- | ---
Sep. 30, 2018 | Jun. 10, 2015 | Oct. 31, 2018 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Intrinsic value of options exercised |  |  |  | $ 2,778 | $ 1,930 | $ 2,629
2014 Stock Incentive Plan |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Number of shares available for future grant (in shares) |  |  |  | 10,725,127 |  |
Expiration period |  |  |  | 5 years |  |
2014 Stock Incentive Plan | Stock options |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Expiration period |  |  |  | 10 years |  |
Vesting period |  |  |  | 4 years |  |
2014 Stock Incentive Plan | Minimum |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Percentage of exercise price of fair value per share on grant date |  |  |  | 110.00% |  |
2014 Stock Incentive Plan | Minimum | Non-Statutory Stock Options |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Percentage of exercise price of fair value per share on grant date |  |  |  | 100.00% |  |
2014 Stock Incentive Plan | Minimum | Restricted Stock |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting period |  |  |  | 1 year |  |
2014 Stock Incentive Plan | Minimum | Performance Stock Units |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting period |  |  |  | 1 year |  |
2014 Stock Incentive Plan | Maximum |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Additional shares reserved for future issuance (in shares) |  | 8,000,000 |  |  |  |
Percentage of outstanding shares of common stock |  | 5.00% |  |  |  |
Combined voting power of all classes of stock |  |  |  | 10.00% |  |
2014 Stock Incentive Plan | Maximum | Restricted Stock |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting period |  |  |  | 4 years |  |
2014 Stock Incentive Plan | Maximum | Performance Stock Units |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting period |  |  |  | 4 years |  |
2014 Employee Stock Purchase Plan | ESPP |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Percentage of eligible compensation | 15.00% |  |  |  |  |
Offering period | 24 months |  |  |  |  |
Amended 2014 Employee Stock Purchase Plan | ESPP |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Number of shares available for future grant (in shares) |  |  |  | 1,821,186 |  |
Percentage of eligible compensation |  |  | 10.00% |  |  |
Offering period |  |  | 6 months |  |  |
Percentage of market value |  |  |  | 85.00% |  |
Maximum number of shares per employee (in shares) |  |  |  | 1,500 |  |
ESPP |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Shares purchased (in shares) |  |  |  | 581,634 | 662,362 |
Price per share (in dollars per share) |  |  |  | $ 5.67 | $ 5.14 |
Intrinsic value of options exercised |  |  |  | $ 1,000 | $ 800 |

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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 + Details
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