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Stockholders' Equity - Narrative (Details) - USD ($) |  | 1 Months Ended | 3 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | --- | --- | ---
Aug. 28, 2020 | Jun. 30, 2020 | May 12, 2020 | May 31, 2018 | Mar. 31, 2020 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Jan. 01, 2020 | May 13, 2016
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Convertible preferred stock, shares issued upon conversion, conversion price (in USD per share) |  |  |  |  |  | $ 27.20 |  |  |  |
Share-based compensation |  |  |  |  |  | $ 15,647,523 | $ 10,901,320 | $ 10,654,622 |  |
Employee service share-based compensation, nonvested awards, total compensation cost not yet recognized |  |  |  |  |  | $ 4,400,000 | $ 3,400,000 |  |  |
Employee service share-based compensation, nonvested awards, total compensation cost not yet recognized, period for recognition |  |  |  |  |  | 1 year 4 months 24 days | 1 year 8 months 12 days |  |  |
Number of options outstanding to purchase common stock (in shares) |  |  |  |  |  | 8,906,624 | 9,265,390 |  |  |
Aggregate intrinsic value of options outstanding |  |  |  |  |  | $ 24,200,000 |  |  |  |
Aggregate intrinsic value for options exercisable |  |  |  |  |  | $ 16,800,000 |  |  |  |
Options exercisable, remaining contractual term |  |  |  |  |  | 5 years 8 months 12 days |  |  |  |
Number of options expected to vest (in shares) |  |  |  |  |  | 8,906,624 |  |  |  |
Options, expirations in period, weighted average exercise price (in USD per share) |  |  |  |  |  | $ 4.44 | $ 6.27 | $ 5.17 |  |
Options, expirations in period (in shares) |  |  |  |  |  | 78,750 | 324,502 | 119,091 |  |
Options, grants in period, weighted average grant date fair value (in USD per share) |  |  |  |  |  | $ 6.87 | $ 2.19 | $ 2.86 |  |
Proceeds from stock options exercised |  |  |  |  |  | $ 12,300,000 | $ 113,000 | $ 1,500,000 |  |
Options, exercises in period, aggregate intrinsic value |  |  |  |  |  | 14,200,000 | 25,000 | 910,000 |  |
Employee |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Share-based compensation |  |  |  |  |  | 14,500,000 | 9,800,000 | 10,200,000 |  |
Research and Development Expense |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Share-based compensation |  |  |  |  |  | 8,000,000.0 | 5,900,000 | 5,900,000 |  |
General and Administrative Expense |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Share-based compensation |  |  |  |  |  | 6,500,000 | 3,900,000 | 4,300,000 |  |
Non Employee |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Allocated share-based compensation expense |  |  |  |  |  | $ 1,200,000 | 970,000 | $ 302,000 |  |
Number of options outstanding to purchase common stock (in shares) |  |  |  |  |  | 845,375 |  |  |  |
Restricted Stock Units (RSUs) |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Employee service share-based compensation, nonvested awards, total compensation cost not yet recognized |  |  |  |  |  | $ 10,900,000 | $ 4,300,000 |  |  |
Employee service share-based compensation, nonvested awards, total compensation cost not yet recognized, period for recognition |  |  |  |  |  | 1 year 10 months 24 days | 1 year 7 months 6 days |  |  |
Aggregate intrinsic value of unvested |  |  |  |  |  | $ 22,600,000 |  |  |  |
Aggregate intrinsic value of vested |  |  |  |  |  | $ 13,500,000 |  |  |  |
RSU's expected to vest (in shares) |  |  |  |  |  | 2,558,052 |  |  |  |
Weighted average grant date fair value (in USD per share) |  |  |  |  |  | $ 9.12 | $ 3.09 | $ 4.31 |  |
Granted (in shares) |  |  |  |  |  | 1,586,280 |  |  |  |
2016 Incentive Plan |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Reserved number of shares under the Incentive Plan (in shares) |  |  |  |  |  | 18,000,000 |  |  |  | 18,000,000
Number of potential shares authorized for issuance under a share-based compensation plan (in shares) |  |  |  |  |  |  |  |  |  | 2,000,000
Increase in number of shares authorized (in shares) |  |  |  |  |  |  |  |  | 2,000,000 |
Number of shares available for grants under the Incentive Plan (in shares) |  |  |  |  |  | 6,739,577 |  |  |  |
Number of shares of vested restricted stock outstanding under the plan (in shares) |  |  |  |  |  | 2,558,052 |  |  |  |
Number of common stock shares outstanding under the Incentive Plan (in shares) |  |  |  |  |  | 5,742,109 |  |  |  |
Vesting period of incentive plan |  |  |  |  |  | 3 years |  |  |  |
Contractual year term of incentive plan |  |  |  |  |  | 10 years |  |  |  |
Award vesting period (in years) |  |  |  |  |  | 3 years |  |  |  |
2016 Incentive Plan | Restricted Stock Units (RSUs) |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Weighted average grant date fair value (in USD per share) | $ 12.06 |  |  |  |  |  |  |  |  |
Granted (in shares) | 663,353 |  |  |  |  |  |  |  |  |
Grant date fair value | $ 8,000,000.0 |  |  |  |  |  |  |  |  |
2016 Incentive Plan | Restricted Stock Units (RSUs) | Tranche One |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Vesting percentage | 50.00% |  |  |  |  |  |  |  |  |
2016 Incentive Plan | Restricted Stock Units (RSUs) | Tranche Two |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Vesting period of incentive plan | 1 year |  |  |  |  |  |  |  |  |
Vesting percentage | 50.00% |  |  |  |  |  |  |  |  |
Award vesting period (in years) | 1 year |  |  |  |  |  |  |  |  |
2007 Incentive Plan |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Number of common stock shares outstanding under the Incentive Plan (in shares) |  |  |  |  |  | 3,164,515 |  |  |  |
Vesting period of incentive plan |  |  |  |  |  | 3 years |  |  |  |
Contractual year term of incentive plan |  |  |  |  |  | 10 years |  |  |  |
Award vesting period (in years) |  |  |  |  |  | 3 years |  |  |  |
Series C Preferred Stock |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Conversion of stock, shares converted (in shares) |  | 14 |  |  |  |  |  |  |  |
Convertible preferred stock, shares issued upon conversion (in shares) |  |  |  |  |  | 3,309 |  |  |  |
Common stock |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Conversion of stock, shares issued (in shares) |  | 5,147 |  |  |  |  |  |  |  |
Common stock | Sales Agreement |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Authorized amount |  |  |  | $ 100,000,000.0 | $ 250,000,000.0 |  |  |  |  |
Common stock | Prior Sales Agreement |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Remaining authorized amount |  |  |  |  | $ 0 | $ 0 |  |  |  |
Stock sale agreement, aggregate number of shares issued (in shares) |  |  |  |  | 43,148,952 |  |  |  |  |
Sale of stock, price per share (in USD per share) |  |  |  |  | $ 4.92 |  |  |  |  |
Stock sale agreement, aggregate proceeds from issuance of stock |  |  |  |  | $ 208,200,000 |  |  |  |  |
Common stock | New Sales Agreement |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Authorized amount |  |  | $ 250,000,000.0 |  |  |  |  |  |  |
Remaining authorized amount |  |  |  |  |  | $ 0 |  |  |  |
Agent fee |  |  |  | 3.00% |  |  |  |  |  |
Stock sale agreement, aggregate number of shares issued (in shares) |  |  |  |  |  | 22,915,934 |  |  |  |
Sale of stock, price per share (in USD per share) |  |  |  |  |  | $ 10.91 |  |  |  |
Stock sale agreement, aggregate proceeds from issuance of stock |  |  |  |  |  | $ 246,200,000 |  |  |  |

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- Definition Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares. + 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 (d)(2) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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