Stock-based Compensation - Summary of Stock-Based Compensation Included in Statement of Operations (Details) - USD ($) $ in Thousands	3 Months Ended	6 Months Ended
Jun. 30, 2020	Jun. 30, 2019	Jun. 30, 2020	Jun. 30, 2019
Stock-based compensation
Total stock-based compensation expense	$ 5,584	$ 4,162	$ 10,535	$ 8,425
Research and development expenses
Stock-based compensation
Total stock-based compensation expense	984	514	1,754	1,081
Selling, general and administrative expenses
Stock-based compensation
Total stock-based compensation expense	$ 4,600	$ 3,648	$ 8,781	$ 7,344

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
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-URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5047-113901

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
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-Section S99
-Paragraph 1
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Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
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-URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901

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