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Stock-Based Compensation - Outstanding and Exercisable Stock Options (Details) - Common stock options
12 Months Ended
Dec. 31, 2019
$ / shares
shares
$2.30 - $6.35  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Exercise price range, lower range limit (in USD per share) $ 2.30
Exercise price range, upper range limit (in USD per share) $ 6.35
Share-based Payment Arrangement, Option, Exercise Price Range, End of Period [Abstract]  
Outstanding, number of shares (in shares) | shares 317,162
Outstanding, weighted average remaining contractual life 6 years 5 months 1 day
Outstanding, weighted average exercise price (in USD per share) $ 5.12
Exercisable, number of shares (in shares) | shares 0
Exercisable, weighted average remaining contractual life 0 years
Exercisable, weighted average exercise price (in USD per share) $ 0.00
$6.67 - $6.67  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Exercise price range, lower range limit (in USD per share) 6.67
Exercise price range, upper range limit (in USD per share) $ 6.67
Share-based Payment Arrangement, Option, Exercise Price Range, End of Period [Abstract]  
Outstanding, number of shares (in shares) | shares 1,450,075
Outstanding, weighted average remaining contractual life 9 years 3 months 22 days
Outstanding, weighted average exercise price (in USD per share) $ 6.67
Exercisable, number of shares (in shares) | shares 146,982
Exercisable, weighted average remaining contractual life 9 years
Exercisable, weighted average exercise price (in USD per share) $ 6.67
$6.76 - $7.45  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Exercise price range, lower range limit (in USD per share) 6.76
Exercise price range, upper range limit (in USD per share) $ 7.45
Share-based Payment Arrangement, Option, Exercise Price Range, End of Period [Abstract]  
Outstanding, number of shares (in shares) | shares 290,484
Outstanding, weighted average remaining contractual life 9 years 4 days
Outstanding, weighted average exercise price (in USD per share) $ 7.29
Exercisable, number of shares (in shares) | shares 214,631
Exercisable, weighted average remaining contractual life 8 years 11 months 19 days
Exercisable, weighted average exercise price (in USD per share) $ 7.43
$7.53 - $75.30  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Exercise price range, lower range limit (in USD per share) 7.53
Exercise price range, upper range limit (in USD per share) $ 75.30
Share-based Payment Arrangement, Option, Exercise Price Range, End of Period [Abstract]  
Outstanding, number of shares (in shares) | shares 265,773
Outstanding, weighted average remaining contractual life 7 years 2 months 27 days
Outstanding, weighted average exercise price (in USD per share) $ 31.02
Exercisable, number of shares (in shares) | shares 103,021
Exercisable, weighted average remaining contractual life 5 years 9 months 22 days
Exercisable, weighted average exercise price (in USD per share) $ 56.95
$77.60 - $175.80  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Exercise price range, lower range limit (in USD per share) 77.60
Exercise price range, upper range limit (in USD per share) $ 175.80
Share-based Payment Arrangement, Option, Exercise Price Range, End of Period [Abstract]  
Outstanding, number of shares (in shares) | shares 18,032
Outstanding, weighted average remaining contractual life 2 years 2 months 1 day
Outstanding, weighted average exercise price (in USD per share) $ 112.55
Exercisable, number of shares (in shares) | shares 17,812
Exercisable, weighted average remaining contractual life 2 years 1 month 13 days
Exercisable, weighted average exercise price (in USD per share) $ 112.52
$2.30 - $175.80  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Exercise price range, lower range limit (in USD per share) 2.30
Exercise price range, upper range limit (in USD per share) $ 175.80
Share-based Payment Arrangement, Option, Exercise Price Range, End of Period [Abstract]  
Outstanding, number of shares (in shares) | shares 2,341,526
Outstanding, weighted average remaining contractual life 8 years 7 months 2 days
Outstanding, weighted average exercise price (in USD per share) $ 10.12
Exercisable, number of shares (in shares) | shares 482,446
Exercisable, weighted average remaining contractual life 8 years 26 days
Exercisable, weighted average exercise price (in USD per share) $ 21.65