Stockholders Equity - Summary of Information about Stock Options Outstanding and Exercisable (Details)	9 Months Ended
	Sep. 30, 2020 $ / shares shares
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Options Outstanding, Number | shares	4,885,197
Options Outstanding, Weighted average remaining contractual term (years)	6 years 3 days
Options Outstanding, Weighted average Exercise Price	$ 4.27
Options Exercisable | shares	2,894,591
Options Exercisable, Weighted average remaining contractual term (years)	3 years 9 months 7 days
Options Exercisable, Weighted average Exercise Price	$ 3.82
$0.15 - $3.64
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price Range (Lower limit)	0.15
Exercise Price Range (Upper limit)	$ 3.64
Options Outstanding, Number | shares	3,323,945
Options Outstanding, Weighted average remaining contractual term (years)	5 years 7 months 13 days
Options Outstanding, Weighted average Exercise Price	$ 2.77
Options Exercisable | shares	1,988,636
Options Exercisable, Weighted average remaining contractual term (years)	2 years 11 months 23 days
Options Exercisable, Weighted average Exercise Price	$ 2.24
$4.26 - $7.95
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price Range (Lower limit)	4.26
Exercise Price Range (Upper limit)	$ 7.95
Options Outstanding, Number | shares	1,503,766
Options Outstanding, Weighted average remaining contractual term (years)	6 years 10 months 2 days
Options Outstanding, Weighted average Exercise Price	$ 6.79
Options Exercisable | shares	866,968
Options Exercisable, Weighted average remaining contractual term (years)	5 years 5 months 15 days
Options Exercisable, Weighted average Exercise Price	$ 6.38
$12.45 - $26.10
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price Range (Lower limit)	12.45
Exercise Price Range (Upper limit)	$ 26.10
Options Outstanding, Number | shares	35,011
Options Outstanding, Weighted average remaining contractual term (years)	7 years 11 months 19 days
Options Outstanding, Weighted average Exercise Price	$ 18.45
Options Exercisable | shares	17,511
Options Exercisable, Weighted average remaining contractual term (years)	7 years 9 months 18 days
Options Exercisable, Weighted average Exercise Price	$ 18.96
$27.00 - $33.00
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price Range (Lower limit)	27
Exercise Price Range (Upper limit)	$ 33.00
Options Outstanding, Number | shares	13,564
Options Outstanding, Weighted average remaining contractual term (years)	3 years 11 months 4 days
Options Outstanding, Weighted average Exercise Price	$ 27.94
Options Exercisable | shares	13,514
Options Exercisable, Weighted average remaining contractual term (years)	3 years 11 months 1 day
Options Exercisable, Weighted average Exercise Price	$ 27.94
$36.00 - $94.65
Share Based Compensation Shares Authorized Under Stock Option Plans Exercise Price Range [Line Items]
Exercise Price Range (Lower limit)	36.00
Exercise Price Range (Upper limit)	$ 94.65
Options Outstanding, Number | shares	8,911
Options Outstanding, Weighted average remaining contractual term (years)	6 years 9 months 3 days
Options Outstanding, Weighted average Exercise Price	$ 46.29
Options Exercisable | shares	7,962
Options Exercisable, Weighted average remaining contractual term (years)	6 years 9 months
Options Exercisable, Weighted average Exercise Price	$ 45.16