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Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Stock-based compensation expense by type of award: |  |  |
Stock-based compensation expense | $ 10,943 | $ 8,203 | $ 9,129
Stock Option Plan Awards |  |  |
Stock-based compensation expense by type of award: |  |  |
Stock-based compensation expense |  | 709 | 2,977
Restricted stock units and restricted stock awards |  |  |
Stock-based compensation expense by type of award: |  |  |
Stock-based compensation expense | 10,229 | 6,717 | 5,413
Employee Stock Purchase Plan |  |  |
Stock-based compensation expense by type of award: |  |  |
Stock-based compensation expense | $ 714 | $ 777 | $ 739

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