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Stock Plans and Stock-Based Compensation - 2016 Employee Stock Purchase Plan - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended
Sep. 15, 2016
Mar. 31, 2020
Mar. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Stock-based compensation expense   $ 10,310 $ 7,785
2016 Employee Stock Purchase Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Purchase price as percentage of fair market value of common stock 85.00%    
Shares purchased under the plan   30,943 24,266
Stock-based compensation expense   $ 300 $ 300
Unrecognized compensation cost   $ 500  
Cost amortized weighted-average period   5 months 15 days  
Maximum | 2016 Employee Stock Purchase Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Increase in number of shares reserved and available for issuance 200,000    
Common Stock | 2016 Employee Stock Purchase Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Increase in number of shares reserved and available for issuance, percentage 1.00%    
Common Stock | Maximum | 2016 Employee Stock Purchase Plan      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Purchase price, discount percentage 15.00%