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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 | 9 Months Ended
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Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | $ 11,236 | $ 11,095 | $ 33,963 | $ 34,183
Research and Development Expense |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 4,521 | 4,612 | 14,130 | 14,580
General and Administrative Expense |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 2,836 | 3,277 | 8,414 | 10,012
Selling and Marketing Expense |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | $ 3,879 | $ 3,206 | $ 11,419 | $ 9,591

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