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Stock Incentive Plans - Narrative (Details)
3 Months Ended 6 Months Ended
Jun. 21, 2016
shares
Jun. 30, 2020
USD ($)
$ / shares
shares
Jun. 30, 2019
USD ($)
$ / shares
Jun. 30, 2020
USD ($)
$ / shares
shares
Jun. 30, 2019
USD ($)
$ / shares
shares
Dec. 31, 2019
shares
Mar. 25, 2019
shares
Sep. 25, 2018
shares
Dec. 31, 2008
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common stock authorized and reserved for future issuance (in shares)   27,757,227   27,757,227   40,169,185      
Unrecognized compensation expense related to unvested non-employee stock options | $   $ 0   $ 0          
Employee stock option grants                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common stock authorized and reserved for future issuance (in shares)   5,283,139   5,283,139   1,765,018      
Estimated forfeitures rate       10.00%          
Weighted average grant date fair value of stock options (in dollars per share) | $ / shares   $ 2.08 $ 1.83 $ 1.73 $ 1.78        
Aggregate intrinsic value of stock options exercised | $     $ 100,000   $ 100,000        
Unrecognized compensation expense related to unvested employee stock options | $   $ 8,100,000   $ 8,100,000          
Weighted average period for recognition       2 years 3 months 18 days          
Non-employee stock options                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Weighted average grant date fair value of stock options (in dollars per share) | $ / shares     $ 1.46   $ 0.65        
Unvested restricted stock units                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common stock authorized and reserved for future issuance (in shares)   159,375   159,375   181,250      
Grants in period (in shares)       0          
Vested in period (in dollars per share) | $ / shares       $ 6.03          
Grants in period (in dollars per share) | $ / shares       $ 0          
The 2008 Plan and the 2016 Plan | Employee stock option grants                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Number   6,472,944   6,472,944          
Issuance of common stock upon exercise of options (in shares)       42,628          
Aggregate intrinsic value of stock options exercised | $   $ 3,381,000   $ 3,381,000          
The 2008 Plan and the 2016 Plan | Non-employee stock options                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Number   473,073   473,073          
Issuance of common stock upon exercise of options (in shares)       0          
Aggregate intrinsic value of stock options exercised | $   $ 72,000   $ 72,000          
2008 Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Number of shares authorized for grants (in shares)                 2,213,412
2008 Plan | Employee stock option grants                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Award vesting term       4 years          
Award expiration term       10 years          
2016 Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Number of shares authorized for grants (in shares)   1,210,256   1,210,256          
Automatic increase in the number of shares that may be issued (as a percent)       0.04          
Number of shares authorized, increase (in shares)       3,453,022 898,871        
Common stock authorized and reserved for future issuance (in shares)   2,651,062   2,651,062          
2016 Plan | Employee stock option grants                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Award vesting term       4 years          
Award expiration term       10 years          
2016 Plan | Employee stock option grants | Minimum                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Combined voting power of participants (as a percent)       10.00%          
2016 Plan | Employee stock option grants | Maximum                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Combined voting power of participants (as a percent)       10.00%          
2016 Plan | Employee stock option grants | Tranche One | Minimum                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Exercise price of incentive stock options (not less than)       100.00%          
2016 Plan | Employee stock option grants | Tranche Two | Minimum                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Exercise price of incentive stock options (not less than)       110.00%          
Employment Inducement Incentive Award Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Number of shares authorized for grants (in shares)   1,100,000   1,100,000          
Common stock authorized and reserved for future issuance (in shares)             2,000,000 1,175,000  
Employment Inducement Incentive Award Plan | Unvested restricted stock units                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Weighted average period for recognition       2 years 4 months 24 days          
Unrecognized compensation expense | $   $ 600,000   $ 600,000          
Employment Inducement Incentive Award Plan | Unvested restricted stock units | Executive Officer                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Grants in period (in dollars per share) | $ / shares   $ 2.92              
Vested in period, fair value | $   $ 100,000              
ESPP                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Automatic increase in the number of shares that may be issued (as a percent) 0.01                
Number of shares authorized, increase (in shares)       863,254 224,717        
Common stock authorized and reserved for future issuance (in shares) 173,076 1,532,077   1,532,077          
Exercise price of incentive stock options (not less than) 85.00%