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Stockholders' Equity - Equity Incentive Plans (Details) - USD ($)
1 Months Ended 3 Months Ended 12 Months Ended
May 31, 2019
Dec. 31, 2019
Dec. 31, 2019
Dec. 31, 2018
RSUs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period     4 years  
Award vesting percentage per year     25.00%  
RSUs | Tranche 1        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   4 years    
Award vesting percentage per year   25.00%    
RSUs | Tranche 2        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period   36 months    
Shares issuable pursuant to the ESPP        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Common stock, shares reserved for future issuance (in shares)   2,500,000 2,500,000  
Maximum deduction percentage of eligible compensation 15.00% 15.00% 15.00%  
Maximum purchase value during offering period, per employee $ 25,000      
Stock plan offering period     6 months  
Purchase price of common stock, percentage of fair value     85.00%  
2011 Equity Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Common stock, shares reserved for future issuance (in shares)   23,578,923 23,578,923 21,689,410
Common stock, shares available for future issuance   0 0 609,804
2011 Equity Incentive Plan | Stock options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award expiration period     10 years  
Award vesting period     4 years  
Award vesting percentage per year     25.00%  
2019 Equity Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Common stock, shares reserved for future issuance (in shares)   14,400,000 14,400,000  
Common stock, shares available for future issuance   12,367,582 12,367,582  
2019 Equity Incentive Plan | Stock options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award expiration period 10 years      
Award vesting period 4 years      
Award vesting percentage per year 25.00%