Stock-Based Compensation - Summary of Stock Option Activity (Details) $ / shares in Units, shares in Thousands, $ in Thousands	9 Months Ended
	Sep. 30, 2021 USD ($) $ / shares shares
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]
Options Outstanding, Number of Shares Underlying Options, Beginning balance | shares	5,514
Number of common shares, granted | shares	1,371
Options Outstanding, Number of Shares Underlying Options, Exercised | shares	(281)
Options Outstanding, Number of Shares Underlying Options, Canceled | shares	(395)
Options Outstanding, Number of Shares Underlying Options, Ending balance | shares	6,209
Options Outstanding, Number of Shares Underlying Options, Options exercisable | shares	2,374
Options Outstanding, Number of Shares Underlying Options, Options vested and expected to vest | shares	6,209
Options Outstanding, Weighted-Average Exercise Price, Beginning balance | $ / shares	$ 13.24
Options Outstanding, Weighted-Average Exercise Price, Granted | $ / shares	15.49
Options Outstanding, Weighted-Average Exercise Price, Exercised | $ / shares	6.17
Options Outstanding, Weighted-Average Exercise Price, Canceled | $ / shares	29.27
Options Outstanding, Weighted-Average Exercise Price, Ending balance | $ / shares	13.04
Options Outstanding, Weighted-Average Exercise Price, Options exercisable | $ / shares	16.20
Options Outstanding, Weighted-Average Exercise Price, Options vested and expected to vest | $ / shares	$ 13.04
Options Outstanding, Aggregate Intrinsic Value, Balance | $	$ 38,433
Options Outstanding, Aggregate Intrinsic Value, Options Exercised | $	2,864
Options Outstanding, Aggregate Intrinsic Value, Balance | $	25,980
Options Outstanding, Aggregate Intrinsic Value, Options exercisable-September 30, 2021 | $	13,193
Options Outstanding, Aggregate Intrinsic Value, Options vested and expected to vest-September 30, 2021 | $	$ 25,980