Annual report pursuant to Section 13 and 15(d)

Equity Incentive Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Option Activity (Details)

v3.20.4
Equity Incentive Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Summary of Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Outstanding Options Granted 266,724 266,724
Outstanding Options Exercised (257,834) (191,153)
2004 and 2018 Equity Incentive Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Outstanding Options, Beginning Balance 3,872,664  
Outstanding Options Granted 1,856,078  
Outstanding Options Exercised (171,354)  
Outstanding Options Canceled or Forfeited (118,093)  
Outstanding Options, Ending Balance 5,439,295 3,872,664
Outstanding Options Exercisable 2,628,592  
Weighted - Average Exercise Price, Beginning Balance $ 12.89  
Weighted - Average Exercise Price, Granted 9.70  
Weighted - Average Exercise Price, Exercised 10.86  
Weighted - Average Exercise Price, Canceled or Forfeited 10.00  
Weighted - Average Exercise Price, Ending Balance 11.93 $ 12.89
Weighted - Average Exercise Price, Exercisable $ 12.47  
Weighted - Average Remaining Contract Term 7 years 9 months 7 years 10 months 17 days
Weighted - Average Remaining Contract Term, Exercisable 6 years 10 months 2 days  
Aggregate Intrinsic Value, Balance $ 53,202 $ 2,119
Aggregate Intrinsic Value, Exercisable $ 24,285