Stock-based Compensation - Schedule of Stock Options Activity (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2020 USD ($) $ / shares shares
NUMBER OF OPTIONS
Options outstanding at beginning of year (in shares) | shares	8,425,551
Granted (in shares) | shares	874,878
Exercised (in shares) | shares	(58,676)
Canceled (in shares) | shares	(653,139)
Options outstanding at end of year (in shares) | shares	8,588,614
Options exercisable at end of year (in shares) | shares	6,405,232
WEIGHTED AVERAGE EXERCISE PRICE
Options outstanding at beginning of year, weighted average exercise price (in dollars per share) | $ / shares	$ 29.06
Granted (in dollars per share) | $ / shares	16.83
Exercised (in dollars per share) | $ / shares	5.28
Canceled (in dollars per share) | $ / shares	37.18
Options outstanding at end of year, weighted average exercise price (in dollars per share) | $ / shares	27.36
Options exercisable, weighted average exercise price (in dollars per share) | $ / shares	$ 26.44
WEIGHTED AVERAGE REMAINING CONTRACTUAL LIFE (YEARS)
Options outstanding (in years)	5 years 10 months 24 days
Options exercisable (in years)	5 years
WEIGHTED AVERAGE REMAINING CONTRACTUAL LIFE (YEARS)
Options outstanding | $	$ 15,180
Options exercisable | $	$ 14,959