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Stock Incentive Plans - Stock-Based Compensation Expense (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items]        
Total stock-based compensation expense $ 8,106 $ 2,035 $ 14,488 $ 8,842
Reversal of stock based compensation expense   2,526   2,526
Total compensation expense related to unvested awards not yet recognized $ 49,025   $ 49,025  
Unrecognized compensation expense recognized over weighted average period     1 year 5 months 19 days  
Quoted closing price of Company's common stock $ 9.27   $ 9.27  
Cash proceed from option exercise, net     $ 14,873 860
25% of Shares        
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items]        
Vesting period     1 year  
Research and development        
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items]        
Total stock-based compensation expense $ 5,298 1,128 $ 9,260 5,074
Sales and marketing        
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items]        
Total stock-based compensation expense 1,013 55 1,888 881
General and administrative        
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items]        
Total stock-based compensation expense 1,795 $ 852 3,340 $ 2,887
Options to purchase common stock        
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items]        
Total compensation expense related to unvested awards not yet recognized 8,276   $ 8,276  
Restricted stock units ("RSUs")        
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items]        
Vesting period     4 years  
Vesting percentage on or around the one-year anniversary     25.00%  
Total compensation expense related to unvested awards not yet recognized 33,063   $ 33,063  
Unrecognized compensation expense recognized over weighted average period     3 years 3 months 18 days  
Performance stock options ("PSOs")        
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items]        
Total compensation expense related to unvested awards not yet recognized 638   $ 638  
Performance stock options ("PSOs") | Maximum        
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items]        
Unrecognized compensation expense recognized over weighted average period     7 months 17 days  
Performance stock units ("PSUs")        
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items]        
Total stock-based compensation expense 486   $ 630  
Total compensation expense related to unvested awards not yet recognized $ 7,048   $ 7,048