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Share Based Awards - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 9 Months Ended
Oct. 26, 2020
Oct. 23, 2018
Dec. 29, 2016
Aug. 11, 2014
Jan. 27, 2020
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2020
Dec. 31, 2019
Mar. 31, 2020
Aug. 31, 2019
Aug. 31, 2017
Aug. 31, 2015
Oct. 31, 2005
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Outstanding stock options           2,854,584   2,854,584   3,001,350        
Total share-based compensation           $ 5,933,000 $ 4,621,000 $ 16,763,000 $ 13,828,000          
Fair value of options vested               $ 3,175,000 3,290,000          
Number of shares vested               589,183            
2005 Employee Stock Option and Incentive Plan                            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Common stock reserved for issuance                           4,800,000
Outstanding stock options           170,720   170,720            
2015 Plan                            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Common stock reserved for issuance                     3,575,000 6,000,000    
Common stock reserved                         11,500,000  
Shares available for future grant           2,183,732   2,183,732            
Employee Share Purchase Plan                            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Common stock reserved for issuance       4,000,000   3,277,828   3,277,828            
Total share-based compensation           $ 105,000 105,000 $ 409,000 336,000          
Maximum percentage of gross payroll deduction       15.00%                    
Purchase price as a percentage of fair market value       90.00%                    
Maximum shares purchase in a single transaction       1,500                    
Maximum amount purchased in a calendar year       $ 25,000                    
Shares issued           722,172   722,172            
Employee Stock Options                            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Outstanding stock options           2,683,864   2,683,864            
Total share-based compensation           $ 603,000 976,000 $ 1,962,000 2,925,000          
Total unrecognized compensation costs           $ 2,048,000   $ 2,048,000            
Stock option recognized over weighted average period (in years)               10 months 24 days            
Employee Stock Options | 2005 Employee Stock Option and Incentive Plan                            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Expiration period (in years)               10 years            
Share-based compensation award plan , expiration date               May 25, 2015            
Employee Stock Options | 2015 Plan                            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Expiration period (in years)               10 years            
Restricted Stock                            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Share-based compensation arrangement by share-based payment award, non-option equity instruments, outstanding, number           2,375,654   2,375,654            
Performance Shares | 2015 Plan                            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Share-based compensation arrangement by share-based payment award, non-option equity instruments, outstanding, number           0   0            
Restricted Stock                            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Share-based compensation arrangement by share-based payment award, non-option equity instruments, outstanding, number           2,375,654   2,375,654   2,312,780        
Total share-based compensation           $ 4,203,000 3,364,000 $ 12,392,000 10,373,000          
Stock option recognized over weighted average period (in years)               1 year 10 months 24 days            
Total unrecognized compensation costs           26,728,000   $ 26,728,000            
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures               1,183,863            
Restricted Stock | Minimum                            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Vesting period               1 year            
Restricted Stock | Maximum                            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Vesting period               3 years            
Performance Stock Awards | Awards Granted On December 2016                            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Total share-based compensation           61,000 62,000 $ 184,000 185,000          
Vesting period               4 years            
Number of shares granted     123,082                      
Performance Stock Awards | 2015 Plan | Awards Granted On December 2016                            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Number of shares vested               123,082            
Performance Stock Units | Units Granted On October 2018                            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures   248,140                        
Percentage of shares issued, minimum   50.00%                        
Percentage of shares issued, maximum   200.00%                        
Weighted-average grant date fair value   $ 17.84                        
Percentage of performance stock units tied to 3-year total shareholder return   34.00%                        
Percentage of performance stock units tied to fiscal year 2021 revenue   33.00%                        
Percentage performance stock units tied to fiscal year 2021 adjusted earnings per share goals   33.00%                        
Performance Stock Units | Units Granted On December 2019 and January 2020                            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Total share-based compensation           417,000   $ 1,042,000            
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures         279,587                  
Percentage of shares issued, minimum         42.50%                  
Percentage of shares issued, maximum         172.50%                  
Weighted-average grant date fair value         $ 16.02                  
Percentage of performance stock units tied to fiscal year 2021 revenue goal         80.00%                  
Percentage of performance stock units tied to fiscal year 2022 revenue goal         20.00%                  
Vesting period for the 3-year total shareholder return         3 years                  
Performance Stock Units | Units Granted On October 2020                            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Total share-based compensation           429,000                
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures 408,861                          
Percentage of shares issued, minimum 8.50%                          
Percentage of shares issued, maximum 199.50%                          
Weighted-average grant date fair value $ 16.25                          
Percentage of performance stock units tied to fiscal year 2022 revenue goal 80.00%                          
Vesting period for the 3-year total shareholder return 3 years                          
Percentage of performance stock units tied to fiscal year 2023 revenue goal 20.00%                          
Performance Stock Units Tied to Total Shareholder Return | Units Granted On October 2018                            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                            
Total share-based compensation           $ 114,000 $ 114,000 $ 343,000 $ 343,000