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Stockholders' Equity - Summary of Stock Option Activity (Details) - $ / shares | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Equity [Abstract] |  |  |
Number of shares outstanding | 15,264,607 | 13,462,964 | 11,845,376
Number of shares granted | 4,933,480 | 4,052,011 | 4,300,621
Number of shares exercised | (1,983,221) | (1,529,509) | (1,350,605)
Number of shares cancelled | (1,550,226) | (720,859) | (1,332,428)
Number of shares outstanding | 16,664,640 | 15,264,607 | 13,462,964
Number of shares outstanding, weighted average exercise price | $ 18.33 | $ 15.03 | $ 14.44
Number of shares granted, weighted average exercise price | 24.21 | 26.83 | 16.17
Number of shares exercised, weighted average exercise price | 11.18 | 11.97 | 8.49
Number of shares cancelled, weighted average exercise price | 23.26 | 17.98 | 20.06
Number of shares outstanding, weighted average exercise price | $ 20.47 | $ 18.33 | $ 15.03

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- Definition For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(3)-(4) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Weighted average price of options that were either forfeited or expired. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(3)-(4) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Gross number of share options (or share units) granted during the period. + References No definition available. + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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