Stock-Based Compensation - Summary of Stock Option Activity (Details)	3 Months Ended
	Mar. 31, 2020 $ / shares shares
Shares
Options outstanding, beginning balance (in shares) | shares	5,691,474
Granted (in shares) | shares	1,358,500
Exercised (in shares) | shares	(137,213)
Canceled (in shares) | shares	(560,730)
Options outstanding, ending balance (in shares) | shares	6,352,031
Exercisable as of period end (in shares) | shares	2,790,620
Weighted- Average Exercise Price
Options outstanding, beginning balance (in dollars per share) | $ / shares	$ 6.99
Granted (in dollars per share) | $ / shares	7.02
Exercised (in dollars per share) | $ / shares	1.65
Canceled (in dollars per share) | $ / shares	9.27
Options outstanding, ending balance (in dollars per share) | $ / shares	6.91
Exercisable as of period end (in dollars per share) | $ / shares	$ 5.26