Equity Incentive Plans and Stock-Based Compensation - Incentive Stock Options and Nonqualified Stock Options - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
Dec. 31, 2020	Dec. 31, 2019
Incentive Stock Options and Nonqualified Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Grant date fair value of stock option	$ 7.27	$ 4.37
Restricted Stock Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation cost	$ 0.2
Unrecognized compensation expense, weighted average period	1 year 2 months 19 days
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation expense, weighted average period	2 years 8 months 19 days
Unrecognized compensation cost	$ 14.3

Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
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Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options.

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Amount of cost to be recognized for option under share-based payment arrangement.

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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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