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Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation expense | $ 93,021 | $ 81,122 | $ 72,565
Research and development |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation expense | 56,155 | 48,259 | 37,659
Selling, general and administrative |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation expense | 36,866 | 32,863 | 34,906
Options |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation expense | 77,748 | 74,780 | 63,288
Restricted common stock and units |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation expense | 12,401 | 5,125 | 9,277
Employee stock purchase plan |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Stock-based compensation expense | $ 2,872 | $ 1,217 | $ 0

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