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Stock Based Compensation - Additional Information (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Proceeds from exercise of stock options |  | $ 2,500,000 | $ 1,000,000.0 |
Intrinsic value of stock options exercised |  | 2,400,000 | 600,000 |
Stock-based compensation |  | $ 4,049,000 | $ 2,564,000 |
Common stock, reserved for future issuance |  | 2,739,000 | 2,424,000 |
Weighted average grant-date fair value of options granted |  | $ 9.86 | $ 4.30 |
Stock options expected to vest aggregate intrinsic value |  | $ 2,200,000 | $ 13,600,000 |
Grant date fair value of shares vested |  | $ 1,900,000 | 2,000,000.0 |
Employee Stock Purchase Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Offering period of employee stock purchase plan |  | 6 months |  |
Limited percentage of annual contribution |  | 20.00% |  |
Percentage of discount and fair value of option |  | 15.00% |  |
Proceeds from stock issued during period |  | $ 300,000 | $ 200,000 |
Number of stock issued during period |  | 27,300 | 27,000 |
Restricted Stock |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total unrecognized compensation cost |  | $ 5,500,000 | $ 3,000,000.0 |
Total unrecognized compensation cost, period for recognition |  | 2 years 6 months |  |
Restricted Stock Units |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total unrecognized compensation cost |  | $ 4,400,000 |  |
Total unrecognized compensation cost, period for recognition |  | 2 years 10 months 24 days |  |
Restricted stock units, Grants |  | 258,000 |  |
Restricted stock units, Vested |  | 62,000 |  |
Weighted average grant date fair value, Grants |  | $ 20.64 |  |
Restricted stock units, vesting period description |  | vest equally after each of the annual anniversaries over a four-year period. |  |
Restricted Stock Units | Employees |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Restricted stock units, Grants |  | 247,200 | 135,000 |
Weighted average grant date fair value, Grants |  | $ 20.56 | $ 10.26 |
Restricted stock units, vesting period |  | 4 years | 4 years |
Non-Employee Board of Directors |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of stock option value awarded per year |  |  |  | $ 30,000
Non-Employee Board of Directors | Restricted Stock Units |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of restricted stock units value awarded per year |  | $ 30,000 |  |
Board of Directors |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of stock option value awarded per year |  |  |  | $ 45,000
Board of Directors | Restricted Stock Units |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Number of restricted stock units value awarded per year |  | $ 45,000 |  |
Restricted stock units, Grants |  | 10,500 | 16,200 |
Restricted stock units, Vested |  | 2,500 |  |
Weighted average grant date fair value, Grants |  | $ 22.51 | $ 9.35 |
Restricted stock units, vesting period description |  | 2,500 shares vest equally after each anniversary over a three-year period and the remaining options vesting on the first anniversary of the grant date. | shares vest equally after each of the annual anniversaries, on March 1 of the respective year, over a four-year period. |
Restricted stock units, vesting period |  | 3 years |  |
Minimum [Member] |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Service period for stock options granted to employees |  | 1 year |  |
Maximum [Member] |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Service period for stock options granted to employees |  | 4 years |  |
Maximum [Member] | Employee Stock Purchase Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Purchase price percentage of market value of common stock |  | 85.00% |  |
Authorized for Grants under the 2016 Equity Incentive Plan |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Common stock, reserved for future issuance | [1],[2] | 332,000 | 357,000 |
[1] | On January 1, 2021, the number of authorized shares in the 2016 Plan increased by 391,000 shares pursuant to the evergreen provisions of the 2016 Equity Incentive Plan.
[2] | Treasury stock of 541,000 and 534,000 shares as of December 31, 2021 and 2020, respectively, are excluded from the table above.

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