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Summary of Significant Accounting Policies - Revenue Recognition (Details) - USD ($) $ in Thousands | Dec. 31, 2020 | Dec. 31, 2019 | Jan. 01, 2018
--- | --- | --- | ---
Revenue Recognition |  |  |
Accumulated deficit | $ (1,073,096) | $ (1,013,316) |
Deferred revenue | 3,386 | 254 |
Accounts receivable | $ 1,802 | $ 1,015 |
ASC 606 |  |  |
Revenue Recognition |  |  |
Accumulated deficit |  |  | $ (1,300)
Deferred revenue |  |  | (800)
Accounts receivable |  |  | $ 500

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