Stock-based Compensation - Schedule of Stock Options Outstanding and Exercisable Option Plans (Details)	12 Months Ended
	Dec. 31, 2020 $ / shares shares
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding (in shares)	8,588,614
Options exercisable (in shares)	6,405,232
Exercise Price One
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding (in shares)	1,407,002
Options outstanding, weighted average remaining contractual life (in years)	2 years 6 months
Options exercisable (in shares)	1,407,002
Exercise Price Two
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding (in shares)	1,472,021
Options outstanding, weighted average remaining contractual life (in years)	6 years 8 months 12 days
Options exercisable (in shares)	962,151
Exercise Price Three
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding (in shares)	2,763,163
Options outstanding, weighted average remaining contractual life (in years)	6 years 1 month 6 days
Options exercisable (in shares)	1,841,580
Exercise Price Four
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding (in shares)	1,185,530
Options outstanding, weighted average remaining contractual life (in years)	6 years 8 months 12 days
Options exercisable (in shares)	929,942
Exercise price Five
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding (in shares)	1,061,299
Options outstanding, weighted average remaining contractual life (in years)	7 years 2 months 12 days
Options exercisable (in shares)	744,904
Exercise Price Six
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Options outstanding (in shares)	699,599
Options outstanding, weighted average remaining contractual life (in years)	7 years 2 months 12 days
Options exercisable (in shares)	519,653
Minimum | Exercise Price One
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	$ 0.20
Minimum | Exercise Price Two
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	10.01
Minimum | Exercise Price Three
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	20.01
Minimum | Exercise Price Four
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	30.01
Minimum | Exercise price Five
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	45.01
Minimum | Exercise Price Six
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, lower range limit (in dollars per share) | $ / shares	55.01
Maximum | Exercise Price One
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, upper range limit (in dollars per share) | $ / shares	10.00
Maximum | Exercise Price Two
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, upper range limit (in dollars per share) | $ / shares	20.00
Maximum | Exercise Price Three
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, upper range limit (in dollars per share) | $ / shares	30.00
Maximum | Exercise Price Four
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, upper range limit (in dollars per share) | $ / shares	45.00
Maximum | Exercise price Five
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, upper range limit (in dollars per share) | $ / shares	55.00
Maximum | Exercise Price Six
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]
Exercise price, upper range limit (in dollars per share) | $ / shares	$ 73.10