Stock-Based Compensation - Schedule of Stock Options Activity (Details) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2021 USD ($) $ / shares shares
NUMBER OF SHARES
Beginning balance (in shares) | shares	8,588,614
Granted (in shares) | shares	421,280
Exercised (in shares) | shares	(63,370)
Canceled (in shares) | shares	(226,156)
Ending balance (in shares) | shares	8,720,368
Options exercisable (in shares) | shares	6,464,439
WEIGHTED AVERAGE EXERCISE PRICE
Beginning balance (in dollars per share) | $ / shares	$ 27.36
Granted (in dollars per share) | $ / shares	17.50
Exercised (in dollars per share) | $ / shares	0.76
Canceled (in dollars per share) | $ / shares	38.78
Ending balance (in dollars per share) | $ / shares	26.78
Options exercisable (in dollars per share) | $ / shares	$ 26.66
WEIGHTED AVERAGE REMAINING CONTRACTUAL LIFE (YEARS)
Options outstanding (in years)	5 years 10 months 24 days
Options exercisable (in years)	4 years 10 months 24 days
AGGREGATE INTRINSIC VALUE
Options outstanding | $	$ 23,551
Options exercisable | $	$ 21,828