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Stock Plans and Stock-Based Compensation - 2016 Employee Stock Purchase Plan - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 15, 2016
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Shares reserved for issuance   3,192,409   3,192,409  
Stock-based compensation expense   $ 8,301 $ 3,541 $ 24,094 $ 20,257
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       42,481 74,517
Stock-based compensation expense   $ 200 $ 200 $ 700 $ 500
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%