Stock-Based Compensation - Schedule of Stock-Based Compensation Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]
Outstanding beginning balance (in shares)	4,253
Granted (in shares)	1,647
Exercised (in shares)	(274)
Canceled (in shares)	(315)
Outstanding ending balance (in shares)	5,311	4,253
Exercisable at end of period (in shares)	3,061
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Roll Forward]
Outstanding weighted average exercise price, beginning balance (in usd per share)	$ 29.59
Granted weighted average exercise price (in usd per share)	27.41
Exercised weighted average exercise price (in usd per share)	16.06
Canceled weighted average exercise price (in usd per share)	38.00
Outstanding weighted average exercise price, ending balance (in usd per share)	29.12	$ 29.59
Exercisable weighted average exercise price at end of period (in usd per share)	$ 25.08
Outstanding, weighted average remaining term at end of period	7 years 1 month 6 days	6 years 9 months 18 days
Exercisable, weighted average remaining term at end of period	5 years 9 months 18 days
Outstanding, intrinsic value at end of period	$ 14,131	$ 96,524
Exercisable, intrinsic value at end of period	$ 13,515