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Equity Incentive Plans - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended
Jan. 01, 2019
Feb. 28, 2015
Mar. 31, 2019
Mar. 31, 2018
Dec. 31, 2018
Apr. 30, 2015
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares issuable increased during the period     3,182,868      
Number of shares available for future grant     7,591,207   7,255,050  
Number of options outstanding     11,790,706   8,986,010  
Aggregate intrinsic value of options exercised     $ 700,000      
Unrecognized compensation expense     $ 21,100,000      
Weighted-average period of unrecognized compensation expense     3 years 2 months 12 days      
Expected dividend yield       0.00%    
Stock-based compensation related to options granted     $ 3,703,000 $ 4,924,000    
Employees            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock-based compensation related to options granted     3,700,000 4,900,000    
Non Employees            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock-based compensation     $ 25,000 $ 63,000    
Restricted Stock Units (RSUs)            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Weighted-average period of unrecognized compensation expense     2 years 10 months 24 days      
Unrecognized stock-based compensation expense related to RSUs     $ 9,900,000      
Minimum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Percentage of exercise price to fair market value common stock on grant date     100.00%      
Stock option expiration period     10 years      
2015 Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Common stock shares reserved for issuance           6,134,292
Percentage of shares issued on common stock outstanding     4.00%      
Common Stock Issuance Description     shares issuable under the 2015 Plan to the lower of (i) 4% of the total number of shares of common stock outstanding on December 31 of the preceding calendar year, or (ii) a lower number determined by the board of directors.      
Shares issuable increased during the period 3,182,868          
Number of shares available for future grant     7,591,207      
2009 Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares issuable increased during the period   360,000        
Number of options outstanding     3,187,042      
2015 ESPP            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Common stock shares reserved for issuance           720,000
Percentage of shares issued on common stock outstanding     1.00%      
Common Stock Issuance Description     shares issuable under the 2015 ESPP equal to the lower of (i) 1% of the total number of shares of common stock outstanding on December 31 of the preceding calendar year, or (ii) a lower number determined by the board of directors.      
Shares issuable increased during the period 0          
Number of shares available for future grant     1,681,668      
Unrecognized compensation expense     $ 26,000      
Weighted-average period of unrecognized compensation expense     1 month 6 days      
More Than 10% Voting Shares            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock option expiration period     5 years      
More Than 10% Voting Shares | Minimum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Percentage of exercise price to fair market value common stock on grant date     110.00%