Stock Plans and Stock-Based Compensation - Schedule of Vested and Nonvested Stock Option Activity (Details)	3 Months Ended
	Mar. 31, 2021 $ / shares shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Options outstanding, Vested | shares	150,286
Weighted average exercise price, Vested | $ / shares	$ 19.96
Options outstanding, Nonvested | shares	71,718
Weighted average exercise price, Nonvested | $ / shares	$ 33.34