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Debt - Additional Information (Details) - USD ($)
1 Months Ended 12 Months Ended
Nov. 18, 2019
Feb. 19, 2019
Jun. 30, 2017
Dec. 31, 2019
Nov. 19, 2019
Dec. 31, 2018
Jul. 18, 2018
Jun. 30, 2018
Debt Instrument [Line Items]                
Outstanding debt           $ 0    
Letters of credit outstanding       $ 31,800,000        
Second Amendment To Restated 2014 Loan and Security Agreement                
Debt Instrument [Line Items]                
Minimum current ratio required under financial covenant     1.25%          
Second Amendment To Restated 2014 Loan and Security Agreement | LIBOR                
Debt Instrument [Line Items]                
Basis spread on variable rate     2.75%          
Second Amendment To Restated 2014 Loan and Security Agreement | Prime Rate                
Debt Instrument [Line Items]                
Basis spread on variable rate     1.00%          
Morgan Stanley Senior Funding, Inc | Credit Agreement | Minimum                
Debt Instrument [Line Items]                
Adjusted quick ratio       1.00%        
Morgan Stanley Senior Funding, Inc | Credit Agreement | Revolving Credit Facility                
Debt Instrument [Line Items]                
Debt instrument term, years   4 years            
Maximum borrowing capacity   $ 100,000,000.0     $ 100,000,000.0      
Borrowings outstanding       $ 0        
Letters of credit outstanding       30,700,000        
Available borrowing capacity       69,300,000        
Morgan Stanley Senior Funding, Inc | Credit Agreement | Term Loan A Facility                
Debt Instrument [Line Items]                
Debt instrument term, years   4 years            
Maximum borrowing capacity   $ 100,000,000.0            
Amount drawn under debt facility $ 100,000,000.0              
Debt instrument, amortization description   Loans under the Term Loan A Facility will amortize in equal quarterly installments beginning on March 31, 2020, in an aggregate annual amount equal to (i) on or prior to December 31, 2021, 1.25% of the drawn principal amount of the Term Loan Facility or $1.25 million and (ii) thereafter, 2.50% of the drawn principal amount of the Term Loan Facility or $2.5 million, with the remaining balance payable on the maturity date of the Term Loan A Facility in February 2023.            
Debt instrument maturity month and year   2023-02            
Morgan Stanley Senior Funding, Inc | Credit Agreement | Term Loan A Facility | On or Prior to December 31, 2021                
Debt Instrument [Line Items]                
Percentage of amortization on drawn principal amount   1.25%            
Amortization, aggregate principal amount   $ 1,250,000            
Morgan Stanley Senior Funding, Inc | Credit Agreement | Term Loan A Facility | Thereafter December 31, 2021                
Debt Instrument [Line Items]                
Percentage of amortization on drawn principal amount   2.50%            
Amortization, aggregate principal amount   $ 2,500,000            
Morgan Stanley Senior Funding, Inc | Credit Agreement | Term Loan A Facility | Adjusted One-Month LIBOR                
Debt Instrument [Line Items]                
Applicable margin based on secured leverage ratio 1.75%              
Morgan Stanley Senior Funding, Inc | Credit Agreement | Uncommitted Incremental Facility                
Debt Instrument [Line Items]                
Maximum borrowing capacity   $ 50,000,000.0            
Debt to company's EBITDA, description   1.0x of the Company’s EBITDA for the most recently completed four fiscal quarter period            
Morgan Stanley Senior Funding, Inc | Credit Agreement | Uncommitted Incremental Facility | Maximum                
Debt Instrument [Line Items]                
Secured leverage ratio   1.50%            
Silicon Valley Bank | Restated 2014 LSA                
Debt Instrument [Line Items]                
Maximum borrowing capacity       5,000,000.0        
Silicon Valley Bank | Restated 2014 LSA | Revolving Credit Facility                
Debt Instrument [Line Items]                
Maximum borrowing capacity       $ 30,000,000.0        
Silicon Valley Bank | Third Amendment To Restated 2014 Loan and Security Agreement                
Debt Instrument [Line Items]                
Maximum borrowing capacity               $ 5,000,000.0
Maximum borrowing capacity             $ 30,000,000.0