Annual report pursuant to Section 13 and 15(d)

Stock-based Compensation - 2014 Equity Incentive Plan (Details)

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Stock-based Compensation - 2014 Equity Incentive Plan (Details) - 2014 Equity Incentive Plan - shares
12 Months Ended
May 02, 2014
Dec. 31, 2020
Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of additional awards expected to be granted (in shares) 0    
Expiration period of options   10 years  
Common stock outstanding percentage 4.00%    
Number of shares of common stock for future issuance, board of directors prerogative, increase in period (in shares) 0    
Share-based compensation arrangement by share-based payment award, number of additional shares authorized   389,650 191,887
Possible future issuance under equity compensation plan (in shares)   146,488  
Minimum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Vesting period of options   3 years  
Maximum      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Vesting period of options   4 years  
Base number of new shares available for future issuance under equity incentive plan (in shares) 112,273    
Common stock issuable period 10 years