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Equity Award Plans - Additional Information (Details) - shares
3 Months Ended 6 Months Ended
Jan. 01, 2022
Feb. 28, 2013
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
2013 Plan [Member]          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Common stock shares reserved for issuance (in shares)   643,000 936,000   936,000
Percentage of increase in outstanding common shares         5.00%
2013 Plan [Member] | Maximum [Member]          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Increase in shares available for issuance (in shares) 777,000        
2013 Employee Stock Purchase Plan [Member]          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Common stock shares reserved for issuance (in shares)   143,000 401,000   401,000
Increase in shares available for issuance (in shares) 100,000        
Percentage of lesser of fair market value of common stock   85.00%      
Percentage of increase in outstanding shares   1.00%      
Stock issued during period (in shares)     13,000 13,000  
2013 Employee Stock Purchase Plan [Member] | Maximum [Member]          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Increase in shares available for issuance, authorized (in shares)   100,000