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Stock-based Compensation - Summary of Stock-based Compensation Expense Related to Stock Options, Restricted Stock Awards (RSAs) and RSUs Granted to Employees and Non-employee Directors (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Total $ 3,401 $ 1,962
Research and development    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Total 482 288
Selling and marketing    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Total 538 227
General and administrative    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Total $ 2,381 $ 1,447