Common Stock and Stock-Based Compensation - Schedule of Share-based Compensation Cost (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	$ 21,998	$ 19,082	$ 15,429
Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	16,394	15,333	15,429
PSU
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	3,062	3,059	0
RSU
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	2,542	690	0
Selling, general and administrative
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	17,556	15,068	11,486
Research and development
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	$ 4,442	$ 4,014	$ 3,943