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Stockholders' Equity - Summary of Stock-Based Compensation (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Stock-based compensation capitalized in inventory $ 53 $ 22 $ 182 $ 105
Total stock-based compensation 8,755 7,293 25,291 21,808
Cost of sales        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Allocated share-based compensation expense 13 22 51 105
Research and development        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Allocated share-based compensation expense 2,958 2,350 8,357 6,834
Selling, general and administrative        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Allocated share-based compensation expense $ 5,731 $ 4,899 $ 16,701 $ 14,764