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Share-Based Compensation - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 12, 2019
Mar. 31, 2021
Jan. 01, 2021
Dec. 31, 2020
Mar. 31, 2020
Mar. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Options outstanding   9,803,349   10,544,270    
Share Based Compensation Expense Related To E S P P         $ 0.1 $ 0.1
Intrinsic value of Stock options exercised   $ 6.8     $ 2.1  
Unrecognized compensation cost   $ 27.1        
Weighted-average period for recognition of compensation cost   2 years        
2006 and 2015 Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Options outstanding   4,307,433        
Remaining shares available to be granted   0        
2019 Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Options outstanding   5,495,916        
Increase in common stock available for issuance 4,750,000 4,153,915        
Number of shares available to be issued   4,105,617        
Allowed annual percentage increase in shares authorized as percentage of outstanding shares of common stock 4.00%          
2019 ESPP            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Remaining shares available to be granted 525,000 1,346,454        
Increase in common stock available for issuance     1,038,478      
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%          
Shares issued   217,024