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Summary of Significant Accounting Policies - Common Stock Equivalents Excluded From Computation of Net Loss Per Share (Details) - shares
shares in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Payment Arrangement, Option      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Shares excluded (in shares) 18,912 16,665 15,265
Restricted Stock Units      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Shares excluded (in shares) 603    
Warrant      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Shares excluded (in shares) 220 508 640
Convertible Debt Securities      
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]      
Shares excluded (in shares) 9,510 8,960 8,473