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Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
2011 Plan, 2019 Plan and Inducement Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Outstanding Options, Number of Shares, Beginning Balance 4,731,435 4,110,130 2,884,527  
Outstanding Options, Number of Shares, granted 1,357,741 988,913 1,386,464  
Outstanding Options, Number of Shares, exercised (908,691) (287,932) (34,426)  
Outstanding Options, Number of Shares, cancelled (232,179) (79,676) (126,435)  
Outstanding Options, Number of Shares, Ending Balance 4,948,306 4,731,435 4,110,130 2,884,527
Options vested and exercisable, Number of Shares 2,868,867      
Outstanding Options, Weighted-Average Exercise Price, Beginning Balance $ 4.94 $ 3.16 $ 1.92  
Outstanding Options, Weighted-Average Exercise Price, granted 12.05 11.81 5.68  
Outstanding Options, Weighted-Average Exercise Price, exercised 3.07 2.47 2.80  
Outstanding Options, Weighted-Average Exercise Price, cancelled 7.87 6.61 2.96  
Outstanding Options, Weighted-Average Exercise Price, Ending Balance 7.10 $ 4.94 $ 3.16 $ 1.92
Options vested and exercisable, Weighted-Average Exercise Price $ 4.24      
Outstanding Options, Weighted-Average Remaining Contractual Term (in years) 6 years 8 months 15 days 6 years 7 months 6 days 6 years 11 months 8 days 6 years 7 months 9 days
Options vested and exercisable, Weighted-Average Remaining Contractual Term (in years) 5 years 2 months 15 days      
Outstanding Options, Aggregate Intrinsic Value $ 146,044 $ 29,730 $ 24,716 $ 5,860
Outstanding Options, Aggregate Intrinsic Value, exercised     $ 96  
Options vested and exercisable, Aggregate Intrinsic Value $ 92,879      
2019 Plan | Performance-Based Stock Option        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Outstanding Options, Number of Shares, granted 421,000      
Outstanding Options, Number of Shares, Ending Balance 421,000      
Options vested and exercisable, Number of Shares 421,000      
Outstanding Options, Weighted-Average Exercise Price, granted $ 5.10      
Outstanding Options, Weighted-Average Exercise Price, Ending Balance 5.10      
Options vested and exercisable, Weighted-Average Exercise Price $ 5.10      
Outstanding Options, Weighted-Average Remaining Contractual Term (in years) 9 years 2 months 15 days      
Options vested and exercisable, Weighted-Average Remaining Contractual Term (in years) 9 years 2 months 15 days      
Outstanding Options, Aggregate Intrinsic Value $ 13,266      
Options vested and exercisable, Aggregate Intrinsic Value $ 13,266