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Equity Plans - Activity (Details) - USD ($)
$ / shares in Units, $ in Millions
9 Months Ended 12 Months Ended
Sep. 30, 2019
Dec. 31, 2018
Options Outstanding    
Options Outstanding, Beginning balance 3,178,441  
Options Outstanding, Options granted 1,265,800  
Options Outstanding, Options exercised (295,853)  
Options Outstanding, Options forfeited (438,757)  
Options Outstanding, Ending balance 3,709,631 3,178,441
Options Outstanding, Options exercisable 1,870,596  
Options Outstanding, Options vested and expected to vest 3,709,631  
Weighted-Average Exercise Price Per Share    
Weighted-Average Exercise Price Per Share, Beginning balance $ 12.23  
Weighted-Average Exercise Price Per Share, Options granted 9.32  
Weighted-Average Exercise Price Per Share, Options exercised 3.91  
Weighted-Average Exercise Price Per Share, Options forfeited 13.30  
Weighted-Average Exercise Price Per Share, Ending balance 11.77 $ 12.23
Weighted-Average Exercise Price Per Share, Options exercisable 11.98  
Weighted-Average Exercise Price Per Share, Options vested and expected to vest $ 11.77  
Weighted-Average Remaining Contractual Life (years)    
Weighted-Average Remaining Contractual Life (years) 8 years 11 days  
Weighted-Average Remaining Contractual Life (years), Options exercisable 7 years 1 month 21 days  
Weighted-Average Remaining Contractual Life (years), Options vested and expected to vest 8 years 11 days 7 years 6 months 7 days
Aggregate Intrinsic Value    
Aggregate Intrinsic Value, Options Outstanding $ 10.7  
Aggregate Intrinsic Value, Options exercisable 6.6  
Aggregate Intrinsic Value, Options vested and expected to vest $ 10.7  
Options, weighted-average grant-date fair value $ 5.42