Share-Based Compensation - Summary of Share-Based Compensation Expense by Award Type (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total	$ 1,847	$ 2,126	$ 6,044	$ 6,803
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total	1,089	1,447	3,556	4,557
Restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total	723	667	2,411	2,197
Employee stock purchase plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total	$ 35	$ 12	$ 77	$ 49