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Stock Option Plans - Information by Exercise Price (Details) - $ / shares
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Options Outstanding (in shares) 4,237,828 4,310,790 4,364,377 4,308,890
Weighted Average Remaining Contractual Term (in Years) 7 years 4 months 17 days 7 years 3 months 7 days 7 years 4 months 9 days 7 years 9 months 21 days
Weighted Average Exercise Price (in USD per share) $ 16.56 $ 7.91 $ 3.79 $ 3.09
Number Exercisable (in shares) 2,392,563      
Weighted Average Exercise Price (in USD per share) $ 8.48      
Exercise Price One        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Options Outstanding (in shares) 1,214,279      
Weighted Average Remaining Contractual Term (in Years) 5 years 5 months 12 days      
Weighted Average Exercise Price (in USD per share) $ 1.97      
Number Exercisable (in shares) 1,128,865      
Weighted Average Exercise Price (in USD per share) $ 1.88      
Exercise Price One | Minimum        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Exercise Price (in USD per share) 1.35      
Exercise Price One | Maximum        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Exercise Price (in USD per share) $ 3.16      
Exercise Price Two        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Options Outstanding (in shares) 722,615      
Weighted Average Remaining Contractual Term (in Years) 7 years 2 months 1 day      
Weighted Average Exercise Price (in USD per share) $ 5.64      
Number Exercisable (in shares) 443,670      
Weighted Average Exercise Price (in USD per share) $ 5.69      
Exercise Price Two | Minimum        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Exercise Price (in USD per share) 4.73      
Exercise Price Two | Maximum        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Exercise Price (in USD per share) $ 7.10      
Exercise Price Three        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Options Outstanding (in shares) 564,188      
Weighted Average Remaining Contractual Term (in Years) 7 years 29 days      
Weighted Average Exercise Price (in USD per share) $ 11.67      
Number Exercisable (in shares) 394,727      
Weighted Average Exercise Price (in USD per share) $ 11.81      
Exercise Price Three | Minimum        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Exercise Price (in USD per share) 8.27      
Exercise Price Three | Maximum        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Exercise Price (in USD per share) $ 12.41      
Exercise Price Four        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Options Outstanding (in shares) 656,009      
Weighted Average Remaining Contractual Term (in Years) 8 years 3 months 3 days      
Weighted Average Exercise Price (in USD per share) $ 20.00      
Number Exercisable (in shares) 270,305      
Weighted Average Exercise Price (in USD per share) $ 20.00      
Exercise Price Four | Minimum        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Exercise Price (in USD per share) 20.00      
Exercise Price Four | Maximum        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Exercise Price (in USD per share) $ 30.00      
Exercise Price Five        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Options Outstanding (in shares) 771,966      
Weighted Average Remaining Contractual Term (in Years) 9 years 2 months 15 days      
Weighted Average Exercise Price (in USD per share) $ 33.50      
Number Exercisable (in shares) 136,151      
Weighted Average Exercise Price (in USD per share) $ 33.76      
Exercise Price Five | Minimum        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Exercise Price (in USD per share) 30.93      
Exercise Price Five | Maximum        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Exercise Price (in USD per share) $ 46.40      
Exercise Price Six        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Options Outstanding (in shares) 308,771      
Weighted Average Remaining Contractual Term (in Years) 9 years 6 months 10 days      
Weighted Average Exercise Price (in USD per share) $ 58.86      
Number Exercisable (in shares) 18,845      
Weighted Average Exercise Price (in USD per share) $ 51.99      
Exercise Price Six | Minimum        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Exercise Price (in USD per share) 47.20      
Exercise Price Six | Maximum        
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]        
Exercise Price (in USD per share) $ 70.80