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Stockholders' Equity - Share-Based Compensation (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based compensation expense | $ 30,727 | $ 24,515 | $ 20,846
Research and development expenses |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based compensation expense | 13,497 | 9,641 | 8,352
General and administrative expenses |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based compensation expense | $ 17,230 | $ 14,874 | $ 12,494

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