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Employee Stock Plans - Additional Information (Details) - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
May 09, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Price an employee pays for shares as percentage of fair market value 85.00%      
Holding period of stock 1 year      
Fair value of stock options granted (in dollars per share) $ 5.79   $ 4.73  
Stock Option        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Percentage of incremental vesting schedule 25.00%      
Incremental vesting schedule period 4 years      
Stock options expiry date 6 years      
Options awarded under the plans vesting period 4 years      
Weighted-average grant-date fair value of stock options granted $ 300,000   $ 3,000,000.0  
Aggregate intrinsic value of stock options exercised 8,900,000 $ 18,800,000 10,900,000  
Unrecognized compensation cost for non-vested stock option $ 1,100,000      
Compensation cost for non-vested stock options weighted average period 11 months 19 days      
Performance Shares        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Options awarded under the plans vesting period 3 years      
Share-based compensation arrangement by share-based payment award, remaining contractual terms 3 years      
Achievement of an earnings per share target 70.00%      
Achievement of total growth in revenue 30.00%      
Restricted Stock Units and Awards        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Compensation cost for non-vested stock options weighted average period 1 year 2 months 12 days      
Unrecognized compensation cost for restricted stock awards $ 6,200,000      
Total fair value of shares vested during period 4,600,000 3,900,000 4,100,000  
Market value of shares awarded during period $ 4,300,000 $ 4,500,000 $ 5,100,000  
2014 Stock Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share available for future grant (in shares) 2,700,000      
2019 Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share available for future grant (in shares)       3,100,000
Minimum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Options awarded under the plans vesting period 3 years      
Minimum | Restricted Stock Units and Awards        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Options awarded under the plans vesting period 1 year      
Maximum        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
ESPP allows qualified employees to purchase shares of common stock $ 25,000      
Shares purchased under ESPP 2,000,000.0      
Options awarded under the plans vesting period 4 years      
Maximum | Performance Shares        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Percentage of initial grant 200.00%      
Maximum | Restricted Stock Units and Awards        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Options awarded under the plans vesting period 4 years