Stockholders' Equity - Additional Information (Details) - USD ($) $ in Thousands	6 Months Ended
Jun. 30, 2020	Jun. 30, 2019
Class Of Stock [Line Items]
Total intrinsic value of options exercised	$ 269	$ 6,870
401(k) Retirement Savings Plan
Class Of Stock [Line Items]
Defined benefit plan, contributed by employer net of forfeitures	$ 459	$ 505
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
Time based restricted stock awards
Class Of Stock [Line Items]
Vesting period	4 years
Performance and time based restricted stock awards
Class Of Stock [Line Items]
Vesting period	3 years
Performance and time based restricted stock units
Class Of Stock [Line Items]
Vesting period	3 years
Restricted stock units and restricted stock awards
Class Of Stock [Line Items]
Unrecognized compensation cost related to unvested employee excluding estimated forfeitures	$ 16,438
Amount expected to recognized over weighted-average period	2 years 8 months 12 days
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
2002 Plan
Class Of Stock [Line Items]
Stock option shares outstanding	333
Number of equity awards available for grant	0
2012 Plan
Class Of Stock [Line Items]
Stock option shares outstanding	138,736
Number of equity awards available for grant	0
2014 Plan
Class Of Stock [Line Items]
Stock option shares outstanding	1,212,795
Number of equity awards available for grant	1,620,935
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
2012 Plan and 2002 Plan \| Maximum
Class Of Stock [Line Items]
Stock option shares outstanding	2,328,569
2014 ESPP Plan
Class Of Stock [Line Items]
Number of equity awards available for grant	670,678
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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