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Stockholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Millions | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | ---
Jun. 30, 2021 | Jun. 30, 2020 | Jun. 30, 2021 | Jun. 30, 2020 | Dec. 31, 2020 | Jun. 30, 2019
Common Stock, Number of Shares, Par Value and Other Disclosures [Abstract] |  |  |  |  |  |
Common stock, authorized (in shares) | 200,000,000 |  | 200,000,000 |  | 200,000,000 |
Common stock, issued (in shares) | 72,017,145 |  | 72,017,145 |  | 70,264,265 |
Common stock, outstanding (in shares) | 69,307,315 |  | 69,307,315 |  | 67,554,435 |
Common stock, par value (in dollars per share) | $ 0.001 |  | $ 0.001 |  | $ 0.001 | $ 0.001
Preferred Stock, Number of Shares, Par Value and Other Disclosures [Abstract] |  |  |  |  |  |
Preferred stock, authorized (in shares) | 5,000,000 |  | 5,000,000 |  | 5,000,000 |
Preferred stock, issued (in shares) | 0 |  | 0 |  | 0 |
Preferred stock, shares outstanding (in shares) | 0 |  | 0 |  | 0 |
Preferred stock, par value (in dollars per share) | $ 0.001 |  | $ 0.001 |  | $ 0.001 |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Common stock, authorized (in shares) | 200,000,000 |  | 200,000,000 |  | 200,000,000 |
Common stock, issued (in shares) | 72,017,145 |  | 72,017,145 |  | 70,264,265 |
Common stock, outstanding (in shares) | 69,307,315 |  | 69,307,315 |  | 67,554,435 |
Common stock, par value (in dollars per share) | $ 0.001 |  | $ 0.001 |  | $ 0.001 | $ 0.001
Preferred stock, authorized (in shares) | 5,000,000 |  | 5,000,000 |  | 5,000,000 |
Preferred stock, shares outstanding (in shares) | 0 |  | 0 |  | 0 |
Preferred stock, issued (in shares) | 0 |  | 0 |  | 0 |
Preferred stock, par value (in dollars per share) | $ 0.001 |  | $ 0.001 |  | $ 0.001 |
Fair value of stock options exercised |  |  | $ 3.0 |  |  |
Accrual for cash awards | $ 5.1 | $ 7.9 | 10.4 | $ 11.6 |  |
Stock-based compensation expense | $ 15.1 | $ 15.9 | $ 29.7 | $ 30.6 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value | $ 24.76 | $ 12.36 | $ 25.71 | $ 12.25 |  |
Dividend yield (percent) | 0.00% | 0.00% | 0.00% | 0.00% |  |
Expected life (in years) | 5 years | 5 years | 5 years | 5 years |  |
Period used to determine volatility |  |  | 5 years |  |  |
Stock Option |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Shares of common stock available for issuance (up to) | 40,067,744 |  | 40,067,744 |  |  |
Options term (in years) |  |  | 10 years |  |  |
Shares reserved for future issuance | 6,000,000.0 |  | 6,000,000.0 |  |  |
Unrecognized compensation cost related to novested share-based compensation arrangements | $ 24.4 |  | $ 24.4 |  |  |
Weighted average recognition period of unrecognized compensation cost |  |  | 2 years 10 months 24 days |  |  |
Employee Stock Purchase Plan |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Shares of common stock available for issuance (up to) | 2,000,000 |  | 2,000,000 |  |  |
Shares reserved for future issuance | 800,000 |  | 800,000 |  |  |
Incentive Stock Option |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Shares of common stock available for issuance (up to) | 3,368,048 |  | 3,368,048 |  |  |
Shares reserved for future issuance | 1,200,000 |  | 1,200,000 |  |  |
RSUs |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Weighted average recognition period of unrecognized compensation cost |  |  | 3 years 2 months 12 days |  |  |
Unrecognized compensation cost related to nonvested share-based compensation arrangements | $ 106.2 |  | $ 106.2 |  |  |
Minimum | RSUs |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting period |  |  | 3 years |  |  |
Maximum | RSUs |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting period |  |  | 4 years |  |  |

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