Period which an employee's right to exercise an award is no longer contingent on satisfaction of either a service condition, market condition or a performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Expected term of share-based compensation awards, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Employee Benefit Plans and Stock-Based Compensation (Details) - shares	1 Months Ended			12 Months Ended
	May 31, 2019	May 31, 2015	May 31, 2013	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term				6 years 1 month 6 days	5 years 9 months 18 days	5 years 9 months 18 days
1997 Stock Option Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares available for grant (in shares)				1,928,994
2007 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares authorized for issuance (in shares)				1,300,000
Number of additional shares authorized for issuance (in shares)			2,000,000
2007 Equity Incentive Plan \| Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period, minimum				3 years
2007 Equity Incentive Plan \| Restricted Stock Awards \| Time based vesting
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period, minimum				3 years
2007 Equity Incentive Plan \| Restricted Stock Awards \| Performance Based Vesting
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period, minimum				12 months
2007 Equity Incentive Plan \| Maximum \| Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term				10 years
2015 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares authorized for issuance (in shares)		399,562
Number of additional shares authorized for issuance (in shares)	1,600,000	3,000,000
Number of shares available for grant (in shares)				1,000,000
2015 Equity Incentive Plan \| Consultant
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period, minimum				1 year
2015 Equity Incentive Plan \| Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period, minimum				4 years
2015 Equity Incentive Plan \| Restricted Stock Awards \| Time based vesting
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period, minimum				3 years
2015 Equity Incentive Plan \| Restricted Stock Awards \| Performance Based Vesting
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period, minimum				12 months
2015 Equity Incentive Plan \| Maximum \| Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term				10 years