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Stock-Based Compensation - Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	9 Months Ended		12 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Shares
Shares, Outstanding, Beginning Balance (in shares)	7,258,353
Shares, Granted (in shares)	1,914,846
Shares, Exercised (in shares)	(302,649)
Shares, Forfeited or expired (in shares)	(339,961)
Shares, Outstanding, Ending Balance (in shares)	8,530,589		7,258,353
Shares, Exercisable (in shares)	5,314,252
Shares, Vested and expected to vest (in shares)	8,135,407
Weighted- Average Exercise Price
Weighted- Average Exercise Price, Outstanding, Beginning Balance (in dollars per share)	$ 21.48
Weighted- Average Exercise Price, Granted (in dollars per share)	20.86
Weighted- Average Exercise Price, Exercised (in dollars per share)	17.77
Weighted- Average Exercise Price, Forfeited or expired (in dollars per share)	19.12
Weighted- Average Exercise Price, Outstanding, Ending Balance (in dollars per share)	21.52		$ 21.48
Weighted- Average Exercise Price, Exercisable (in dollars per share)	22.76
Weighted- Average Exercise Price, Vested and expected to vest (in dollars per share)	$ 21.62
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Weighted- Average Remaining Contractual Term, Outstanding (in years)	6 years 8 months 12 days		6 years 9 months 18 days
Weighted- Average Remaining Contractual Term, Exercisable (in years)	5 years 6 months
Weighted- Average Remaining Contractual Term, Vested and expected to vest (in years)	6 years 8 months 12 days
Aggregate Intrinsic Value, Outstanding, Ending Balance	$ 19,925
Aggregate Intrinsic Value, Exercisable	10,445
Aggregate Intrinsic Value, Vested and expected to vest	$ 18,793
Weighted-average grant-date fair value of options granted (in dollars per share)	$ 15.21	$ 10.5
Intrinsic value of options exercised	$ 3,200	$ 3,900
Cash received for options exercised	5,400	4,500
Fair value of shares vested	14,800	$ 12,400
Unrecognized compensation expense related to non-vested stock-options, net of related forfeiture estimates	$ 36,300
Unrecognized compensation expense recognition period (in years)	2 years 7 months 6 days

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