Stockholders' Equity and Stock-based Compensation Expense - Activity of Stock Awards Outstanding Under the 2019 Plans (Details)	9 Months Ended
Sep. 30, 2021 $ / shares shares
Number of Awards Outstanding
Stock awards canceled / forfeited / expired (in shares)	(295,392)
Stock awards
Number of Awards Outstanding
Beginning balance (in shares)	779,757
Awards released (in shares)	(175,813)
Stock awards canceled / forfeited / expired (in shares)	(298,028)
Ending balance (in shares)	983,031
Weighted Average Grant Date Fair Value per Share
Beginning balance (in dollars per share) \| $ / shares	$ 23.96
Awards released (in dollars per share) \| $ / shares	22.45
Stock awards canceled / forfeited / expired (in dollars per share) \| $ / shares	27.24
Ending balance (in dollars per share) \| $ / shares	$ 33.91
PSUs
Number of Awards Outstanding
Milestone	463,593
Weighted Average Grant Date Fair Value per Share
Stock awards granted (in dollars per share) \| $ / shares	$ 41.23
RSUs
Number of Awards Outstanding
Milestone	213,522
Weighted Average Grant Date Fair Value per Share
Stock awards granted (in dollars per share) \| $ / shares	$ 36.80

The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(iv)(3)
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Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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