XML 90 R76.htm IDEA: XBRL DOCUMENT v3.22.1
Stock Based Compensation - Additional Information (Details) - USD ($)
12 Months Ended
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.