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Share-Based Compensation - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2020
Mar. 12, 2019
Mar. 31, 2020
Jan. 01, 2020
Dec. 31, 2019
Mar. 31, 2019
May 31, 2018
Dec. 31, 2016
Apr. 30, 2015
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Options outstanding 8,986,436   8,986,436   8,919,116        
Stock options outstanding     414,856            
Common stock, shares issued 52,253,327   52,253,327   51,965,708        
Unrecognized compensation cost $ 28.9   $ 28.9            
Weighted-average period for recognition of compensation cost     2 years 9 months 18 days            
Intrinsic value of Stock options exercised $ 2.1   $ 2.1     $ 1.9      
2006 Plan                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Remaining shares available to be granted               0  
Options outstanding 1,380,203   1,380,203            
2015 Plan                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Options outstanding 5,152,693   5,152,693            
Common stock reserved for issuance             8,211,980   5,270,095
2019 Plan                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Common stock reserved for issuance   4,750,000   2,046,209          
Allowed annual percentage increase in shares authorized as percentage of outstanding shares of common stock   4.00%              
Stock options outstanding 2,453,540                
2019 ESPP                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Common stock reserved for issuance   525,000   511,552          
Allowed annual percentage increase in shares authorized as percentage of outstanding shares of common stock   1.00%              
Maximum shares allowed to be issued under ESPP   5,250,000              
Purchase of common stock through payroll deductions expressed in percentage of fair market value   85.00%              
Offering period commenced date Mar. 01, 2020 Oct. 21, 2019              
Offering period end date Aug. 31, 2020 Feb. 29, 2020              
Common stock, shares issued   42,620