Annual report pursuant to Section 13 and 15(d)

Equity Incentive Plans - Additional Information (Details)

v3.22.1
Equity Incentive Plans - Additional Information (Details)
1 Months Ended 12 Months Ended
May 31, 2017
shares
Dec. 31, 2021
USD ($)
Participant
$ / shares
shares
Dec. 31, 2020
$ / shares
shares
Dec. 31, 2019
$ / shares
shares
Dec. 31, 2017
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Unvested options resulting from early exercises   0 0 0  
Options to Purchase Common Stock          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Total unrecognized stock-based compensation cost related to unvested stock options | $   $ 6,500,000      
Total unrecognized stock-based compensation cost related to unvested stock options, recognized ratably over a weighted-average period   2 years 7 months 6 days      
Income tax benefits from stock-based compensation | $   $ 0      
Restricted Stock Unit          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Total unrecognized stock-based compensation cost related to unvested stock options, recognized ratably over a weighted-average period   2 years 4 months 24 days      
Share Based Compensation Arrangement By Share Based Payment Award Equity Instruments Other Than Options Grants In Period   84,035 91,759 62,382  
Grant Date Fair Value, Granted | $ / shares   $ 37.86 $ 31.75 $ 44.05  
Total unrecognized stock-based compensation cost related RSUs | $   $ 3,800,000      
Restricted Stock Unit | Executive Management          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Vesting period   4 years      
2005 Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of shares available for future grant 0        
2017 Equity Incentive Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of shares available for future grant   1,661,956 1,814,379    
Shares of common stock reserved for issuance, automatic annual increase initiation period --01-01        
Percentage of number of shares of common stock outstanding         5.00%
Share Based Compensation Arrangement By Share Based Payment Award Equity Instruments Other Than Options Grants In Period   84,035      
Incentive Stock Options          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Ownership percentage, minimum   10.00%      
Incentive Stock Options | Minimum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Percentage of fair value of common stock granted to employees   110.00%      
2005 Plan and 2017 Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Vesting period   4 years      
2005 Plan and 2017 Plan | Maximum          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Expiration period   10 years      
2017 Employee Stock Purchase Plan          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Number of shares available for future grant   399,328 429,521    
Percentage of number of shares of common stock outstanding   2.00%      
Percentage of fair market value of common stock at beginning and end of offering period 15.00%        
Purchase of common stock under ESPP, Description   The 2017 ESPP permits the maximum discounted purchase price permitted under U.S. tax rules, including a “lookback”, which allows eligible employees to purchase shares of the Company’s common stock at a 15% discount to the lesser of the fair market value of common stock at the beginning and end of the offering period.      
Initial offering period in length   24 months      
Number of participant have the right to purchase shares of common stock | Participant   0      
Fair Market Value Of Common Stock | $   $ 25,000      
Periodic increment of common stock reserved for future issuance   150,000