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Stockholders' Equity (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 6 Months Ended
Dec. 21, 2018
May 31, 2020
Oct. 31, 2019
Aug. 31, 2018
Sep. 30, 2017
Jun. 30, 2020
Jun. 30, 2019
Dec. 31, 2018
Jun. 30, 2020
Jun. 30, 2019
Dec. 31, 2019
Aug. 06, 2018
Stock transactions                        
Proceeds from public offering of common stock, net of issuance costs                 $ 105,689      
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           $ 120,000      
Common Stock                        
Stock transactions                        
Price (in dollars per share)   $ 14.00                    
Common stock sold (in shares)   7,000,000       8,050,000     8,050,000      
Issuance of common stock upon exercise of Exchange Warrants (in shares)             599,997     599,997    
Common Stock | 2017 Form S-3                        
Stock transactions                        
Common stock available for sale           $ 72,000     $ 72,000      
Common Stock | Underwriter overallotment option                        
Stock transactions                        
Price (in dollars per share)   $ 14.00                    
Common stock sold (in shares)   1,050,000                    
Common Stock | Private Placement                        
Stock transactions                        
Number of warrants exercised           0     0      
Common Stock | 2017 Sales Agreement                        
Stock transactions                        
Common stock sold (in shares)   1,232,793     921,684              
Proceeds from public offering of common stock, net of issuance costs   $ 105,300     $ 10,500 $ 16,600     $ 16,600      
At-the-market offering (ATM)                        
Stock transactions                        
Maximum aggregate offering price                 $ 57,700      
At-the-market offering (ATM) | 2019 Form S-3                        
Stock transactions                        
Maximum aggregate offering price     $ 75,000                  
At-the-market offering (ATM) | 2017 Sales Agreement                        
Stock transactions                        
Maximum aggregate offering price         $ 50,000              
Investors | Common Stock                        
Stock transactions                        
Price (in dollars per share)                       $ 8.00
Common stock sold (in shares)       2,750,000                
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     600,000      
Issuance of common stock upon exercise of Exchange Warrants (in shares)                 599,997      
Exchange warrants unexercised           400,000     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