Annual report pursuant to Section 13 and 15(d)

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

v3.21.1
Equity Incentive Plans - Schedule of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]      
Number of Options Outstanding, Beginning Balance 617,493 820,186 1,294,128
Number of Options Outstanding, Granted 347,095 138,200 157,078
Number of Options Outstanding, Exercised (96,456) (307,365) (609,985)
Number of Options Outstanding, Canceled (54,890) (33,528) (21,035)
Number of Options Outstanding, Ending Balance 813,242 617,493 820,186
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]      
Weighted Average Exercise Price, Beginning Balance $ 17.13 $ 8.44 $ 1.79
Weighted Average Exercise Price, Granted 32.14 35.76 33.70
Weighted Average Exercise Price, Exercised 3.25 1.47 0.90
Weighted Average Exercise Price, Canceled 26.07 24.80 6.78
Weighted Average Exercise Price, Ending Balance 24.58 17.13 8.44
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]      
Weighted Average Grant Date Fair Value per Option, Granted $ 19.15 $ 21.86 $ 20.59
Aggregate Intrinsic Value Exercised $ 2,257 $ 12,117 $ 12,574