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Shareholders' Equity - Common and Capital Stock Reserved for Future Issuance (Details) - shares
Dec. 31, 2020
Dec. 31, 2019
Class of Stock [Line Items]    
Option awards outstanding (in shares) 20,051,051 29,634,296
Total (in shares) 56,577,282 52,269,533
Class B Common Stock    
Class of Stock [Line Items]    
Shares issuable upon conversion of outstanding Class B common stock (in shares) 6,217,447 6,217,447
Option Awards    
Class of Stock [Line Items]    
Option awards outstanding (in shares) 20,051,051 29,634,296
Option Awards | 2011 Plan    
Class of Stock [Line Items]    
Stock available for grant (in shares) 16,175,125 1,466,856
Option Awards | 2019 Equity Inducement Plan    
Class of Stock [Line Items]    
Stock available for grant (in shares) 6,817,102 7,898,167
Restricted Stock Units    
Class of Stock [Line Items]    
Restricted stock units outstanding (in shares) 7,316,557 7,052,767