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Stockholders' Equity - Summary of Stock-Based Compensation Expense related to Stock-Based Payment Awards Granted (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
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | $ 9,704 | $ 8,050 | $ 40,312 | $ 23,572
Research and Development Expense |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 4,365 | 3,212 | 14,123 | 9,363
General and Administrative Expense |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 2,939 | 2,366 | 10,333 | 6,950
Selling and Marketing Expense |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | $ 2,400 | $ 2,472 | $ 15,856 | $ 7,259

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