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Stock Plans and Stock-Based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 9 Months Ended
Sep. 30, 2019
Dec. 31, 2017
Sep. 30, 2020
Sep. 30, 2019
Jun. 30, 2020
May 31, 2019
May 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award              
Shares reserved for issuance (in shares)         4,600,000 3,000,000 1,900,000
Weighted-average grant-date fair value of options granted     $ 11.01 $ 10.79      
Total intrinsic value of options exercised     $ 2,000,000.0 $ 1,600,000      
Stock-based compensation     18,106,000 14,049,000      
Unrecognized stock-based compensation expense     $ 27,800,000        
Unrecognized stock-based compensation expense expected to be recognized, term     1 year 9 months 18 days        
RSUs              
Share-based Compensation Arrangement by Share-based Payment Award              
Total fair value of awards vested and settled     $ 6,200,000 3,600,000      
Total intrinsic value of awards vested and settled     $ 3,900,000 $ 1,800,000      
Granted     531,164        
RSUs | Executives              
Share-based Compensation Arrangement by Share-based Payment Award              
Granted 100,000 45,000 100,000        
Total fair value of awards     $ 1,200,000        
Cumulative catch-up adjustment of stock-based compensation expense     700,000        
Stock-based compensation     $ 0        
2018 ESPP              
Share-based Compensation Arrangement by Share-based Payment Award              
Number of common shares reserved for future issuance             400,000
Number of common stock purchased by employees     42,266 36,804