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Stock Plans and Stock-Based Compensation - 2016 Employee Stock Purchase Plan - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Sep. 15, 2016
Jun. 30, 2019
Jun. 30, 2018
Jun. 30, 2019
Jun. 30, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Shares reserved for issuance   2,782,677   2,782,677  
Stock-based compensation expense   $ 8,282 $ 10,022 $ 16,131 $ 16,716
2016 Employee Stock Purchase Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Shares reserved for issuance 500,000        
Purchase price as percentage of fair market value of common stock 85.00%        
Shares purchased under the plan       24,266 44,193
Stock-based compensation expense   $ 200 $ 200 $ 500 $ 400
2016 Employee Stock Purchase Plan | Maximum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Increase in number of shares reserved and available for issuance 200,000        
2016 Employee Stock Purchase Plan | Common Stock          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Increase in number of shares reserved and available for issuance, percentage 1.00%        
2016 Employee Stock Purchase Plan | Common Stock | Maximum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Purchase price, discount percentage 15.00%