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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, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Stock-based compensation expense   $ 17,441 $ 13,351 $ 45,631 $ 34,939
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       41,164 49,319
Stock-based compensation expense   400 $ 300 $ 1,300 $ 900
Unrecognized compensation cost   $ 900   $ 900  
Cost amortized weighted-average period       5 months 12 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%