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Summary of Significant Accounting Policies - Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Stock-Based Compensation      
Stock-based compensation expense $ 37,000 $ 31,600 $ 31,900
Net Loss Per Share      
Securities excluded in calculation of EPS 1,196,268   1,022,623
Basic numerator:      
Net income (loss) attributable to common stockholders $ 82,631 $ (69,333) $ 26,875
Denominator:      
Weighted average common shares outstanding, basic 58,379,641 57,212,737 56,531,439
Net income (loss) per common share, basic (in dollars per share) $ 1.42 $ (1.21) $ 0.48
Diluted numerator:      
Net income (loss) attributable to common stockholders for diluted net income (loss) per share $ 82,631 $ (69,333) $ 26,875
Denominator      
Weighted average common shares outstanding, basic 58,379,641 57,212,737 56,531,439
Dilutive effect of employee stock options and ESPP 2,115,814   1,936,441
Weighted average common shares outstanding, diluted 60,495,455 57,212,737 58,467,880
Net income (loss) per common share, diluted (in dollars per share) $ 1.37 $ (1.21) $ 0.46