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Net Loss Per Share - Outstanding Common Stock Equivalents Considered Antidilutive Excluded From Computation of Diluted Net Loss Per Share Attributable to Common Stockholders (Details) - shares
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Total 84,391,917 40,841,379 46,097,615
Convertible promissory notes      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Total 0 0 12,099,120
Common stock warrants      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Total 22,314,778 3,635,180 3,087,307
Stock Options      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Total 51,735,883 37,206,199 30,911,188
Restricted stock units      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Total 341,256    
Earnout shares      
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]      
Total 10,000,000