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Stock Option Plans - Information by Exercise Price (Details) - $ / shares
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Options Outstanding (in shares) 4,310,790 4,364,377 4,308,890
Weighted Average Remaining Contractual Term (in Years) 7 years 3 months 7 days 7 years 4 months 9 days 7 years 9 months 21 days
Weighted Average Exercise Price (in USD per share) $ 7.91 $ 3.79 $ 3.09
Number Exercisable (in shares) 2,514,891    
Weighted Average Exercise Price, vested and exercisable (in USD per share) $ 4.27    
Exercise Price One      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Options Outstanding (in shares) 2,072,765    
Weighted Average Remaining Contractual Term (in Years) 5 years 10 months 9 days    
Weighted Average Exercise Price (in USD per share) $ 1.84    
Number Exercisable (in shares) 1,770,060    
Weighted Average Exercise Price, vested and exercisable (in USD per share) $ 1.71    
Exercise Price One | Minimum      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Exercise Price (in USD per share) 1.35    
Exercise Price One | Maximum      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Exercise Price (in USD per share) $ 3.16    
Exercise Price Two      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Options Outstanding (in shares) 919,355    
Weighted Average Remaining Contractual Term (in Years) 8 years 2 months 23 days    
Weighted Average Exercise Price (in USD per share) $ 5.81    
Number Exercisable (in shares) 383,077    
Weighted Average Exercise Price, vested and exercisable (in USD per share) $ 5.72    
Exercise Price Two | Minimum      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Exercise Price (in USD per share) 4.73    
Exercise Price Two | Maximum      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Exercise Price (in USD per share) $ 8.27    
Exercise Price Three      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Options Outstanding (in shares) 1,192,804    
Weighted Average Remaining Contractual Term (in Years) 8 years 8 months 23 days    
Weighted Average Exercise Price (in USD per share) $ 16.63    
Number Exercisable (in shares) 352,383    
Weighted Average Exercise Price, vested and exercisable (in USD per share) $ 14.46    
Exercise Price Three | Minimum      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Exercise Price (in USD per share) 11.29    
Exercise Price Three | Maximum      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Exercise Price (in USD per share) $ 20.00    
Exercise Price Four      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Options Outstanding (in shares) 125,866    
Weighted Average Remaining Contractual Term (in Years) 9 years 8 months 8 days    
Weighted Average Exercise Price (in USD per share) $ 40.50    
Number Exercisable (in shares) 9,371    
Weighted Average Exercise Price, vested and exercisable (in USD per share) $ 45.57    
Exercise Price Four | Minimum      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Exercise Price (in USD per share) 36.47    
Exercise Price Four | Maximum      
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]      
Exercise Price (in USD per share) $ 48.53