Equity Incentive Plans - Summary of Options Outstanding and Vested (Details)	3 Months Ended
	Mar. 31, 2020 $ / shares shares
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Option Outstanding, Number Outstanding	5,483,891
Options Vested and Exercisable, Number Vested and Exercisable	2,997,298
Options Vested and Exercisable, Weighted Average Life (in Years)	6 years 2 months 15 days
$1.50 to $1.90
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Prices, Low | $ / shares	$ 1.50
Exercise Prices, High | $ / shares	$ 1.90
Option Outstanding, Number Outstanding	29,963
Options Outstanding, Weighted Average Life (in Years)	1 year 1 month 6 days
Options Vested and Exercisable, Number Vested and Exercisable	29,963
Options Vested and Exercisable, Weighted Average Life (in Years)	1 year 1 month 6 days
2.86 to 6.40
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Prices, Low | $ / shares	$ 2.86
Exercise Prices, High | $ / shares	$ 6.40
Option Outstanding, Number Outstanding	152,780
Options Outstanding, Weighted Average Life (in Years)	2 years 10 months 24 days
Options Vested and Exercisable, Number Vested and Exercisable	152,780
Options Vested and Exercisable, Weighted Average Life (in Years)	2 years 10 months 24 days
8.04 to 11.72
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Prices, Low | $ / shares	$ 8.04
Exercise Prices, High | $ / shares	$ 11.72
Option Outstanding, Number Outstanding	457,714
Options Outstanding, Weighted Average Life (in Years)	3 years 10 months 24 days
Options Vested and Exercisable, Number Vested and Exercisable	457,714
Options Vested and Exercisable, Weighted Average Life (in Years)	3 years 10 months 24 days
12.20 to 15.06
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Prices, Low | $ / shares	$ 12.20
Exercise Prices, High | $ / shares	$ 15.06
Option Outstanding, Number Outstanding	1,933,421
Options Outstanding, Weighted Average Life (in Years)	6 years 4 months 24 days
Options Vested and Exercisable, Number Vested and Exercisable	1,517,566
Options Vested and Exercisable, Weighted Average Life (in Years)	6 years 2 months 12 days
16.06 to 24.00
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Prices, Low | $ / shares	$ 16.06
Exercise Prices, High | $ / shares	$ 24.00
Option Outstanding, Number Outstanding	1,581,078
Options Outstanding, Weighted Average Life (in Years)	7 years 10 months 24 days
Options Vested and Exercisable, Number Vested and Exercisable	555,420
Options Vested and Exercisable, Weighted Average Life (in Years)	7 years 9 months 18 days
31.99 to 42.21
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Prices, Low | $ / shares	$ 31.99
Exercise Prices, High | $ / shares	$ 42.21
Option Outstanding, Number Outstanding	826,351
Options Outstanding, Weighted Average Life (in Years)	8 years 8 months 12 days
Options Vested and Exercisable, Number Vested and Exercisable	235,511
Options Vested and Exercisable, Weighted Average Life (in Years)	8 years 8 months 12 days
55.10 to 86.61
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Prices, Low | $ / shares	$ 55.10
Exercise Prices, High | $ / shares	$ 86.61
Option Outstanding, Number Outstanding	502,584
Options Outstanding, Weighted Average Life (in Years)	9 years 6 months
Options Vested and Exercisable, Number Vested and Exercisable	48,344
Options Vested and Exercisable, Weighted Average Life (in Years)	9 years