Shareholder's Equity and Stock-Based Compensation - Additional Information (Details) - shares	6 Months Ended
Jun. 30, 2021	Jun. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted	273,588
2016 Incentive Award Plan \| Non Employee Directors
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted		23,148
Award vesting period	1 year	1 year
2016 Incentive Award Plan \| Granted to Employees
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Awards granted to employees	337,381	319,397
2016 Incentive Award Plan \| Vesting After Four and a Half Years \| Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted	205,086
Award vesting period	4 years 6 months
2016 Incentive Award Plan \| Vesting After Four and a Half Years \| Restricted Stock Units (RSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares granted	74,725
2016 Incentive Award Plan \| Vesting After Two Years \| Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted	57,570
Award vesting period	2 years
2016 Incentive Award Plan \| Vesting After One Year \| Non Employee Directors
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted	10,932
2016 Incentive Award Plan \| Vesting After Four Years \| Restricted Stock Units (RSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period		4 years
Shares granted		96,768
2016 Incentive Award Plan \| Vesting After Four Years \| Restricted Stock Awards (RSA)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period		4 years
Shares granted		20,724
2016 Incentive Award Plan \| Vesting After Three Years \| Restricted Stock Units (RSU)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting period		3 years
Shares granted		2,500
2016 Incentive Award Plan \| Fully-vested Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted		199,405

Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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-SubTopic 10
-Section 50
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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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-Publisher FASB
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Number of shares issued under share-based payment arrangement.

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