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Equity Plans - Activity (Details) - USD ($)
$ / shares in Units, $ in Millions
6 Months Ended 12 Months Ended
Jun. 30, 2020
Dec. 31, 2019
Options Outstanding    
Options Outstanding, Beginning balance 3,681,521  
Options Outstanding, Options granted 1,141,600  
Options Outstanding, Options exercised (113,808)  
Options Outstanding, Options forfeited (171,327)  
Options Outstanding, Ending balance 4,537,986 3,681,521
Options Outstanding, Options exercisable 2,383,602  
Options Outstanding, Options vested and expected to vest 4,537,986  
Weighted-Average Exercise Price Per Share    
Weighted-Average Exercise Price Per Share, Beginning balance $ 11.64  
Weighted-Average Exercise Price Per Share, Options granted 8.51  
Weighted-Average Exercise Price Per Share, Options exercised 5.52  
Weighted-Average Exercise Price Per Share, Options forfeited 10.88  
Weighted-Average Exercise Price Per Share, Ending balance 11.04 $ 11.64
Weighted-Average Exercise Price Per Share, Options exercisable 12.02  
Weighted-Average Exercise Price Per Share, Options vested and expected to vest $ 11.04  
Weighted-Average Remaining Contractual Life (years)    
Weighted-Average Remaining Contractual Life (years) 7 years 10 months 24 days  
Weighted-Average Remaining Contractual Life (years), Options exercisable 6 years 10 months 13 days  
Weighted-Average Remaining Contractual Life (years), Options vested and expected to vest 7 years 10 months 24 days 7 years 9 months 10 days
Aggregate Intrinsic Value    
Aggregate Intrinsic Value, Options Outstanding $ 32.8  
Aggregate Intrinsic Value, Options exercisable 16.0  
Aggregate Intrinsic Value, Options vested and expected to vest $ 32.8  
Options, weighted-average grant-date fair value $ 5.46