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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Parenthetical) (Details) - shares | Jan. 01, 2019 | Dec. 31, 2019 | Dec. 31, 2018
--- | --- | --- | ---
Class Of Stock [Line Items] |  |  |
Treasury stock, shares at cost |  | 465,000 | 357,000
2016 Equity Incentive Plan |  |  |
Class Of Stock [Line Items] |  |  |
Number of authorized shares increased | 384,045 |  |
2016 Employee Stock Purchase Plan |  |  |
Class Of Stock [Line Items] |  |  |
Number of authorized shares increased | 96,000 |  |

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