Stock Plans and Stock-Based Compensation - Schedule of Stock Options Outstanding, Vested and Expected to Vest and Exercisable (Details) - $ / shares	9 Months Ended
Sep. 30, 2021	Dec. 31, 2020
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Outstanding, Number of shares	166,232	279,021
Outstanding, Remaining contractual life (years)	5 years 3 months 29 days
Outstanding, Weighted-average exercise price	$ 23.61	$ 25.55
Vested and expected to vest, Number of shares	166,088
Vested and expected to vest, Remaining contractual life (years)	5 years 3 months 29 days
Vested and expected to vest, Weighted-average exercise price	$ 23.60
Exercisable, Number of shares	147,478
Exercisable, Remaining contractual life (years)	5 years 2 months 1 day
Exercisable, Weighted-average exercise price	$ 21.38

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Number of fully vested and expected to vest exercisable options that may be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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