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Stockholders' Equity - Additional Information (Details) | 12 Months Ended
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Dec. 31, 2021 USD ($) Vote shares | Dec. 31, 2020 USD ($) shares | Dec. 31, 2019 USD ($) shares
Class Of Stock [Line Items] |  |  |
Number of voting rights per share of common stock | Vote | 1 |  |
Preferred stock, shares authorized | 10,000,000 |  |
Preferred stock, shares issued | 0 | 0 |
Preferred stock, shares outstanding | 0 | 0 |
Dividends declared | $ | $ 0 | $ 0 | $ 0
Total intrinsic value of options exercised | $ | 14,524,000 | 494,000 | 7,910,000
Total weighted average fair value of stock options granted | $ | 0 | 0 | 0
401(k) Retirement Savings Plan |  |  |
Class Of Stock [Line Items] |  |  |
Defined benefit plan, contributed by employer net of forfeitures | $ | $ 479,000 | $ 455,000 | $ 871,000
Stock options |  |  |
Class Of Stock [Line Items] |  |  |
Rate of reduced stock-based compensation expense for estimated forfeiture |  | 7.30% | 7.30%
Time based restricted stock units |  |  |
Class Of Stock [Line Items] |  |  |
Vesting period | 4 years |  |
Grants of units unvested | 240,044 | 210,622 | 87,902
Time based restricted stock awards |  |  |
Class Of Stock [Line Items] |  |  |
Vesting period | 4 years |  |
Grants of units unvested |  |  | 54,853
Performance and time based restricted stock awards |  |  |
Class Of Stock [Line Items] |  |  |
Vesting period | 3 years |  |
Grants of units unvested |  |  | 40,166
Performance and time based restricted stock units |  |  |
Class Of Stock [Line Items] |  |  |
Vesting period | 3 years |  |
Grants of units unvested | 88,902 | 88,458 |
Restricted stock units and restricted stock awards |  |  |
Class Of Stock [Line Items] |  |  |
Amount expected to recognized over weighted-average period | 2 years 6 months |  |
Unrecognized compensation cost related to unvested employee excluding estimated forfeitures | $ | $ 13,685,000 |  |
Rate of reduced stock-based compensation expense for estimated forfeiture | 4.10% | 4.70% | 4.40%
Maximum | Stock options |  |  |
Class Of Stock [Line Items] |  |  |
Stock option period, expiration | 10 years |  |
Vesting period | 4 years |  |
Minimum | Stock options |  |  |
Class Of Stock [Line Items] |  |  |
Stock option period, expiration | 7 years |  |
Vesting period | 1 year |  |
2012 Plan |  |  |
Class Of Stock [Line Items] |  |  |
Stock option shares outstanding | 71,452 |  |
Number of equity awards available for grant | 0 |  |
2012 Plan | Maximum |  |  |
Class Of Stock [Line Items] |  |  |
Stock option shares outstanding | 2,328,569 |  |
2014 Plan |  |  |
Class Of Stock [Line Items] |  |  |
Stock option shares outstanding | 757,401 |  |
Number of equity awards available for grant | 1,481,328 |  |
Terms of shares available for issuance | The number of shares available for issuance under the 2014 Plan also is increased annually on the first day of each fiscal year equal to the least of: 895,346 shares; 4% of the outstanding shares of common stock as of the last day of the Company's immediately preceding fiscal year; or such other amount as the Company's board of directors may determine. |  |
Common stock capital shares reserved for future issuance maximum annual increase | 895,346 |  |
Percentage on outstanding shares of common stock | 4.00% |  |
Number of additional number of shares reserve to provision | 0 |  |
2014 ESPP Plan |  |  |
Class Of Stock [Line Items] |  |  |
Number of equity awards available for grant | 569,866 |  |
Terms of shares available for issuance | The number of shares available for sale under the ESPP is increased annually on the first day of each fiscal year equal to the least of: 179,069 shares; 1.5% of the outstanding shares of the Company's common stock on the last day of the Company's immediately preceding fiscal year; or such other amount as may be determined by the administrator. |  |
Percentage on outstanding shares of common stock | 1.50% |  |
Number of additional number of shares reserve to provision | 0 |  |
Maximum percentage of common stock eligible to purchase through payroll deductions for participants | 15.00% |  |
Maximum number of shares available for participant to purchase during period | 1,500 |  |
Purchase price as percentage of stock price on offering period | 85.00% |  |
Purchase price as percentage of stock price on exercise date | 85.00% |  |
Potential increase of shares available for issuance | 179,069 |  |

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