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Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2019 | Sep. 30, 2018 | Sep. 30, 2019 | Sep. 30, 2018
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | $ 3,496 | $ 2,929 | $ 10,468 | $ 8,896
Research and development |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | 1,558 | 1,334 | 4,698 | 3,720
Selling, general and administrative |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | $ 1,938 | $ 1,595 | $ 5,770 | $ 5,176

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