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Stock-Based Compensation - Schedule of Outstanding and Exercisable Options (Details)
9 Months Ended
Sep. 30, 2020
$ / shares
shares
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Stock options outstanding (in shares) | shares 595,212
Weighted average exercise price (in dollars per share) $ 17.76
Weighted average remaining contractual life 8 years 1 month 2 days
Stock options exercisable (in shares) | shares 201,851
Weighted average exercise price (in dollars per share) $ 40.54
$0.00 - $0.78  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices (in dollars per share) 0
Range of exercise prices (in dollars per share) $ 7.8
Stock options outstanding (in shares) | shares 343,796
Weighted average exercise price (in dollars per share) $ 3.96
Weighted average remaining contractual life 9 years 2 months 23 days
Stock options exercisable (in shares) | shares 10,951
Weighted average exercise price (in dollars per share) $ 6.52
$0.79 - $1.50  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices (in dollars per share) 7.81
Range of exercise prices (in dollars per share) $ 15.0
Stock options outstanding (in shares) | shares 59,528
Weighted average exercise price (in dollars per share) $ 10.30
Weighted average remaining contractual life 6 years 8 months 15 days
Stock options exercisable (in shares) | shares 49,318
Weighted average exercise price (in dollars per share) $ 10.59
$1.51 - $5.50  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices (in dollars per share) 15.1
Range of exercise prices (in dollars per share) $ 55.0
Stock options outstanding (in shares) | shares 118,450
Weighted average exercise price (in dollars per share) $ 24.03
Weighted average remaining contractual life 7 years 2 months 8 days
Stock options exercisable (in shares) | shares 68,368
Weighted average exercise price (in dollars per share) $ 27.11
$5.51 - $10.67  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise prices (in dollars per share) 55.1
Range of exercise prices (in dollars per share) $ 106.7
Stock options outstanding (in shares) | shares 73,438
Weighted average exercise price (in dollars per share) $ 78.31
Weighted average remaining contractual life 5 years 4 months 6 days
Stock options exercisable (in shares) | shares 73,214
Weighted average exercise price (in dollars per share) $ 78.35