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Stock-Based Compensation - Narrative (Details) - USD ($) $ / shares in Units, $ in Millions | 6 Months Ended
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Jun. 30, 2021 | Jun. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Aggregate intrinsic value of options exercised | $ 0.1 | $ 8.1
Unrecognized compensation costs | $ 7.5 |
Stock options |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Term of options granted | 10 years |
Vesting period | 4 years |
Percentage of awards vesting each year | 25.00% |
Shares allocated for issuance (in shares) | 6,000,000 |
Shares available for future issuance (in shares) | 700,000 |
Stock-based compensation costs | $ 1.5 | $ 1.0
Weighted-average expected recognition period | 2 years 7 months 28 days |
Expected dividend rate | 0.00% |
Restricted Stock |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Weighted-average expected recognition period | 3 years 25 days |
Awards granted (in shares) | 200,000 | 0
Awards vested and released from right to repurchase (in shares) | 26,336 | 25,000
Awards cancelled (in shares) | 0 | 0
Weighted average estimated fair value of awards granted (in shares) | $ 18.70 |
Unrecognized stock-based compensation | $ 4.3 |

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- Definition Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition. + 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 (a)(1) -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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