Stock Plans and Stock-Based Compensation - Schedule of Vested and Nonvested Stock Option Activity (Details)	6 Months Ended
	Jun. 30, 2021 $ / shares shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Options outstanding, Vested | shares	153,906
Weighted average exercise price, Vested | $ / shares	$ 20.98
Options outstanding, Nonvested | shares	44,893
Weighted average exercise price, Nonvested | $ / shares	$ 35.38