Stock-Based Compensation - Schedule of Stock Options Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended
	Jun. 30, 2021
NUMBER OF SHARES
Beginning balance (in shares)	8,588,614
Granted (in shares)	605,896
Exercised (in shares)	(90,930)
Canceled (in shares)	(382,930)
Ending balance (in shares)	8,720,650
Options exercisable (in shares)	6,625,447
WEIGHTED  AVERAGE EXERCISE PRICE
Beginning balance (in dollars per share)	$ 27.36
Granted (in dollars per share)	17.33
Exercised (in dollars per share)	3.30
Canceled (in dollars per share)	37.65
Ending balance (in dollars per share)	26.46
Options exercisable (in dollars per share)	$ 26.81
WEIGHTED AVERAGE REMAINING CONTRACTUAL LIFE (YEARS)
Options outstanding (in years)	5 years 8 months 12 days
Options exercisable (in years)	4 years 9 months 18 days
AGGREGATE INTRINSIC VALUE
Options outstanding	$ 18,969
Options exercisable	$ 18,131