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Stockholders' Equity - Summary of Restricted Stock Activity (Details) - $ / shares | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Time based restricted stock units |  |  |
Class Of Stock [Line Items] |  |  |
Unvested restricted stock units/ awards outstanding, Beginning balance | 245,462 | 108,976 | 58,589
Granted | 240,044 | 210,622 | 87,902
Vested | (109,504) | (49,636) | (24,680)
Forfeited/canceled | (86,836) | (24,500) | (12,835)
Unvested restricted stock units/ awards outstanding, Ending balance | 289,166 | 245,462 | 108,976
Performance and time based restricted stock units |  |  |
Class Of Stock [Line Items] |  |  |
Unvested restricted stock units/ awards outstanding, Beginning balance | 88,458 | 3,134 | 8,739
Granted | 88,902 | 88,458 |
Vested |  |  | (4,366)
Forfeited/canceled | (78,248) | (3,134) | (1,239)
Unvested restricted stock units/ awards outstanding, Ending balance | 99,112 | 88,458 | 3,134
Restricted stock units |  |  |
Class Of Stock [Line Items] |  |  |
Unvested restricted stock units/ awards outstanding, Beginning balance | 333,920 | 112,110 | 67,328
Granted | 328,946 | 299,080 | 87,902
Vested | (109,504) | (49,636) | (29,046)
Forfeited/canceled | (165,084) | (27,634) | (14,074)
Unvested restricted stock units/ awards outstanding, Ending balance | 388,278 | 333,920 | 112,110
Unvested and expected to vest restricted stock units/awards outstanding | 331,358 | 246,420 | 103,087
Weighted-average grant date fair value per share, Unvested restricted stock units/ awards outstanding, Beginning balance | $ 49.29 | $ 83.48 | $ 115.16
Weighted-average grant date fair value per share, Granted | 56.01 | 43.52 | 75.56
Weighted-average grant date fair value per share, Vested | 52.79 | 83.31 | 123.53
Weighted-average grant date fair value per share, Forfeited/canceled | 46.88 | 70.60 | 102.89
Weighted-average grant date fair value per share, Unvested restricted stock units/ awards outstanding, Ending balance | 54.81 | 49.29 | 83.48
Weighted-average grant date fair value per share, Unvested and expected to vest restricted stock units/awards outstanding | $ 54.98 | $ 49.82 | $ 83.22
Time based restricted stock awards |  |  |
Class Of Stock [Line Items] |  |  |
Unvested restricted stock units/ awards outstanding, Beginning balance | 42,076 | 71,070 | 36,937
Granted |  |  | 54,853
Vested | (15,728) | (28,994) | (13,627)
Forfeited/canceled | (15,932) |  | (7,093)
Unvested restricted stock units/ awards outstanding, Ending balance | 10,416 | 42,076 | 71,070
Performance and time based restricted stock awards |  |  |
Class Of Stock [Line Items] |  |  |
Unvested restricted stock units/ awards outstanding, Beginning balance | 33,355 | 62,628 | 47,821
Granted |  |  | 40,166
Vested |  |  | (15,732)
Forfeited/canceled | (27,726) | (29,273) | (9,627)
Unvested restricted stock units/ awards outstanding, Ending balance | 5,629 | 33,355 | 62,628
Restricted stock awards |  |  |
Class Of Stock [Line Items] |  |  |
Unvested restricted stock units/ awards outstanding, Beginning balance | 75,431 | 133,698 | 84,758
Granted |  |  | 95,019
Vested | (15,728) | (28,994) | (29,359)
Forfeited/canceled | (43,658) | (29,273) | (16,720)
Unvested restricted stock units/ awards outstanding, Ending balance | 16,045 | 75,431 | 133,698
Unvested and expected to vest restricted stock units/awards outstanding | 15,532 | 44,159 | 79,473
Weighted-average grant date fair value per share, Unvested restricted stock units/ awards outstanding, Beginning balance | $ 93.96 | $ 95.74 | $ 115.80
Weighted-average grant date fair value per share, Granted |  |  | 86.10
Weighted-average grant date fair value per share, Vested | 91.17 | 89.37 | 115.37
Weighted-average grant date fair value per share, Forfeited/canceled | 98.05 | 110.27 | 109.11
Weighted-average grant date fair value per share, Unvested restricted stock units/ awards outstanding, Ending balance | 87.12 | 93.96 | 95.74
Weighted-average grant date fair value per share, Unvested and expected to vest restricted stock units/awards outstanding | $ 90.08 | $ 85.90 | $ 90.31

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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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