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Stockholders' Equity - Summary of Stock Option Plan Activity (Including Restricted Stock Units) (Details) - $ / shares | 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] |  |  |
Number of shares outstanding | 18,912,529 |  |
Stock Option and RSUs |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Number of shares outstanding | 16,664,640 | 15,264,607 | 13,462,964
Number of shares granted | 4,659,942 | 4,933,480 | 4,052,011
Number of shares exercised | (544,441) | (1,983,221) | (1,529,509)
Number of shares cancelled | (1,264,871) | (1,550,226) | (720,859)
Number of shares outstanding | 19,515,270 | 16,664,640 | 15,264,607
Number of shares outstanding, weighted average exercise price | $ 20.47 | $ 18.33 | $ 15.03
Number of shares granted, weighted average exercise price | 13.95 | 24.21 | 26.83
Number of shares exercised, weighted average exercise price | 12.41 | 11.18 | 11.97
Number of shares cancelled, weighted average exercise price | 22.84 | 23.26 | 17.98
Number of shares outstanding, weighted average exercise price | $ 18.98 | $ 20.47 | $ 18.33

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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=120381028&loc=d3e5070-113901 + Details
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