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Stockholders' Equity (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Dec. 21, 2018
Sep. 30, 2017
Oct. 31, 2019
Dec. 31, 2018
Aug. 31, 2018
Nov. 30, 2017
Oct. 31, 2017
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Aug. 06, 2018
Stock transactions                      
Net proceeds from sale of stock               $ 34,492 $ 1,508    
Par value (per share)       $ 0.00001       $ 0.00001 $ 0.00001    
2017 Form S-3                      
Stock transactions                      
Maximum aggregate offering price   $ 200,000                  
2019 Form S-3                      
Stock transactions                      
Maximum aggregate offering price     $ 250,000         $ 0      
Common Stock                      
Stock transactions                      
Common stock sold pursuant to Sales Agreement (in shares)             3,530,000     4,059,500  
Price (in dollars per share)             $ 17.00        
Issuance of common stock upon exercise of Exchange Warrants (in shares)               599,997      
Procceds from stock issuance, net of underwriting and offering costs           $ 64,500          
Common Stock | 2017 Form S-3                      
Stock transactions                      
Common stock available for sale               $ 72,000      
Common Stock | 2017 Sales Agreement                      
Stock transactions                      
Common stock sold pursuant to Sales Agreement (in shares)               2,846,641 151,273    
Net proceeds from sale of stock               $ 34,500 $ 1,500    
Common Stock | Underwriter overallotment option                      
Stock transactions                      
Common stock sold pursuant to Sales Agreement (in shares)           529,500          
Price (in dollars per share)           $ 17.00          
Common Stock | Private Placement                      
Stock transactions                      
Number of warrants exercised               0      
At-the-market offering (ATM) | 2017 Sales Agreement                      
Stock transactions                      
Maximum aggregate offering price   $ 50,000                  
At-the-market offering (ATM) | 2019 Form S-3                      
Stock transactions                      
Maximum aggregate offering price     $ 75,000                
Investors | Common Stock                      
Stock transactions                      
Common stock sold pursuant to Sales Agreement (in shares)         2,750,000            
Price (in dollars per share)                     $ 8.00
Aggregate gross proceeds                     $ 21,700
Investors | Common Stock | Private Placement                      
Stock transactions                      
Warrants to purchase common stock, number of shares                     2,750,000
Exchange Agreement | Exchanging Stockholders                      
Stock transactions                      
Warrants to purchase common stock, number of shares 1,000,000                    
Common stock exchanged for pre-funded warrants       1,000,000              
Par value (per share) $ 0.00001                    
Exercise Price (per share) $ 0.00001                    
Duration of warrants from date of issuance (in years) 10 years                    
Equity method investment, ownership percentage 9.99%                    
Exchange Agreement | Exchanging Stockholders | Common Stock                      
Stock transactions                      
Number of warrants exercised               600,000      
Issuance of common stock upon exercise of Exchange Warrants (in shares)               599,997      
Exchange warrants unexercised               400,000      
Group one | Common Stock | Private Placement                      
Stock transactions                      
Number of shares to be converted for each warrant                     1,375,000
Exercise Price (per share)                     $ 10.00
Group two | Common Stock | Private Placement                      
Stock transactions                      
Number of shares to be converted for each warrant                     1,375,000
Exercise Price (per share)                     $ 15.00