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Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Deferred tax assets:
Net operating loss carryforward	$ 251,971	$ 210,301
Research and development credits	49,683	42,490
Stock-based compensation	20,211	15,628
Lease liabilities	4,330	3,487
Other	3,777	3,818
Total gross deferred tax assets	329,972	275,724
Deferred tax liabilities:
Right-of-use lease assets	(4,014)	(3,385)
Total gross deferred tax liabilities	(4,014)	(3,385)
Valuation allowance	$ (325,958)	$ (272,339)

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