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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 | 6 Months Ended
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Jun. 30, 2021 | Jun. 30, 2020 | Jun. 30, 2021 | Jun. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | $ 11,241 | $ 11,114 | $ 22,727 | $ 23,088
Research and Development Expense |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 4,672 | 4,681 | 9,609 | 9,968
General and Administrative Expense |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 2,792 | 3,304 | 5,578 | 6,735
Selling and Marketing Expense |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | $ 3,777 | $ 3,129 | $ 7,540 | $ 6,385

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