Quarterly report pursuant to Section 13 or 15(d)

Equity Incentive Plans - Schedule of Stock Option Activity (Details)

v3.20.2
Equity Incentive Plans - Schedule of Stock Option Activity (Details) - 2005 Plan and 2017 Plan
9 Months Ended
Sep. 30, 2020
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]  
Number of Options Outstanding, Beginning Balance | shares 617,493
Number of Options Outstanding, Granted | shares 244,979
Number of Options Outstanding, Exercised | shares (84,670)
Number of Options Outstanding, Canceled | shares (54,267)
Number of Options Outstanding, Ending Balance | shares 723,535
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]  
Weighted Average Exercise Price, Beginning Balance | $ / shares $ 17.13
Weighted Average Exercise Price, Granted | $ / shares 31.81
Weighted Average Exercise Price, Exercised | $ / shares 1.99
Weighted Average Exercise Price, Canceled | $ / shares 25.95
Weighted Average Exercise Price, Ending Balance | $ / shares $ 23.21