Stock-Based Awards - Summary of Option Activity (Details) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2021 USD ($) $ / shares shares
Number of Shares
Outstanding, beginning balance, number of shares (in shares) | shares	5,712,339
Granted | shares	2,877,170
Exercised | shares	(577,605)
Forfeited/Expired | shares	572,396
Outstanding, ending balance, number of shares (in shares) | shares	7,439,508
Options vested and expected to vest (in shares) | shares	7,439,508
Options exercisable (in shares) | shares	3,599,498
Weighted Average Exercise Price
Outstanding, beginning balance (in dollars per share) | $ / shares	$ 29.53
Granted (in dollars per share) | $ / shares	26.80
Exercised (in dollars per share) | $ / shares	8.17
Forfeited/Expired (in dollars per share) | $ / shares	40.49
Outstanding, ending balance (in dollars per share) | $ / shares	29.28
Options vested and expected to vest (in dollars per share) | $ / shares	29.28
Options exercisable (in dollars per share) | $ / shares	$ 29.06
Additional Disclosures
Outstanding, weighted average remaining contractual term	7 years 10 months 9 days
Options vested and expected to vest, weighted average remaining contractual term	7 years 10 months 9 days
Options exercisable, weighted average remaining contractual term	6 years 7 months 24 days
Outstanding, aggregate intrinsic value | $	$ 3,891
Options vested and expected to vest, aggregate intrinsic value | $	3,891
Options exercisable, aggregate intrinsic value | $	$ 3,103