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Stock Plans and Stock-Based Compensation - Performance-Based Restricted Stock Units - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Stock-based compensation expense $ 15,505 $ 11,278 $ 28,190 $ 21,588  
Performance-Based Restricted Stock Units          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Share-based compensation, number of stock unit grants in period     288,292    
Stock-based compensation expense 7,300 $ 5,200 $ 13,200 $ 9,800  
Award achievement probability percentage     100.00%    
Weighted-average grant date fair values of units granted     $ 121.80 $ 108.57  
Number of stock units vested     48,043    
Unrecognized compensation expense $ 50,600   $ 50,600    
Weighted-average amortization period     1 year 11 months 12 days    
Performance-Based Restricted Stock Units | Tranche One          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Share-based compensation, compounded annual growth measurement period     2 years    
Share-based compensation, vesting stock percentage     50.00%    
Performance-Based Restricted Stock Units | Tranche Two          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Share-based compensation, compounded annual growth measurement period     3 years    
Performance-Based Restricted Stock Units | Minimum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Share-based compensation, thresholds percentage of revenue growth     20.00%   15.00%
Share price $ 118.04   $ 118.04    
Performance-Based Restricted Stock Units | Maximum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Share-based compensation, thresholds percentage of revenue growth     40.00%   35.00%
Share price $ 146.69   $ 146.69